Surgical robotic devices

Abstract

To provide improved robotic systems for minimally invasive surgery.SOLUTION: A surgical robotic system for performing surgical treatment of a patient comprises: a robotic device sized to be positioned in a cavity of the patient; and a console in electrical communication with the robotic device. The console is configured to control the robotic device from outside the patient.SELECTED DRAWING: Figure 1B

Description

[Technical field]

[0001] [CROSS REFERENCE TO RELATED APPLICATIONS] This application claims priority from U.S. Provisional Application No. 61 / 792,508, filed March 15, 2013, entitled "Single Site Robotic Surgical Devices, Systems and Methods," which is incorporated herein by reference in its entirety. The embodiments disclosed herein relate to various medical devices and associated components, including robotic and / or in vivo medical devices and associated components. Certain embodiments include various robotic medical devices, including robotic devices that are placed within a body cavity and robotic devices that are deployed with a support component that is placed through an orifice or opening within the body cavity. Further embodiments relate to methods of operating such devices. [Background technology]

[0002] Invasive surgical procedures are necessary to address a variety of medical conditions and, where possible, minimally invasive procedures such as laparoscopy are preferred. However, known minimally invasive techniques such as laparoscopy are limited in scope and complexity due in part to 1) mobility restrictions caused by the use of rigid tools inserted through access ports, and 2) limited visual feedback. Known robotic systems such as the da Vinci® Surgical System (available from Intuitive Surgical, Inc., Sunnyvale, Calif.) are also limited by access ports and have the additional disadvantages of being very large, very expensive, unavailable in most hospitals, and having limited sensory and motor capabilities. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Patent Application Publication No. 2013 / 009887 [Patent Document 2] US Patent Application Publication No. 2009 / 0163929 [Patent Document 3] US Patent Application Publication No. 2010 / 0069940 [Patent Document 4] US Patent Application Publication No. 2005 / 0096502 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a need in the art for improved surgical methods, systems, and devices. [Means for solving the problem]

[0005] Various systems and devices disclosed herein relate to devices for use in medical procedures and systems. More specifically, various embodiments relate to various medical devices, including robotic devices, and associated methods and systems. Particular implementations relate to such devices for use in laparoscopic single-site surgical (LESS) procedures. [Brief description of the drawings]

[0006] [Figure 1A] FIG. 1 is a side view of a robotic surgical device according to one embodiment. [Figure 1B] FIG. 2 is a front perspective view of the device of FIG. 1. [Figure 1C] FIG. 2 is a perspective view of the device of FIG. 1. [Figure 1D] FIG. 2 is an end view of the device of FIG. 1. [Figure 2A] FIG. 1 illustrates a cutaway view of the internal body and shoulder of a robotic medical device according to one embodiment. [Figure 2B] FIG. 2B is a rotated cutaway view of the robotic medical device of FIG. 2A. [Figure 2C] 2B is a cutaway perspective view of a medical device according to the embodiment of FIG. 2A. [Figure 2D] 2B is a further cutaway perspective view of the medical device body according to the embodiment of FIG. 2A. [Figure 2E] FIG. 2B is a cutaway view of the lower body and shoulder of the robotic device according to the embodiment of FIG. 2A. [Figure 3A] FIG. 1 illustrates a cutaway side view of an upper arm of a robotic medical device according to one embodiment. [Figure 3B] FIG. 3B is a perspective view of the embodiment of FIG. 3A. [Figure 3C] FIG. 3B is a different perspective view of the embodiment of FIG. 3A. [Figure 3D] FIG. 3B is a rear perspective view of the embodiment of FIG. 3A. [Figure 3E] FIG. 3E is another perspective view of the medical device shown in FIG. 3D. [Figure 4A] FIG. 13 is a cutaway view of the internal components of the right upper arm of a robotic device according to one embodiment. [Figure 4B] FIG. 4B is a rotated side view of the embodiment of FIG. 4A. [Figure 4C] FIG. 4B is a further rotated side view of the embodiment of FIG. 4A. [Figure 4D] FIG. 4B is an endlong view of the embodiment of FIG. 4A. [Figure 4E] FIG. 4B is a further end view of the embodiment of FIG. 4A. [Figure 5A] FIG. 1 is an end view of a forearm of a robotic device according to one embodiment. [Figure 5B] FIG. 5B is a cutaway side view of the internal component of the forearm of the embodiment of FIG. 5A taken along line AA. [Figure 5C] FIG. 5B is a cutaway side view of the internal component of the forearm of the embodiment of FIG. 5A taken along line BB. [Figure 6A] FIG. 13 is a cross-sectional view of an end effector portion of a forearm showing the electrical portion according to an exemplary embodiment. [Figure 6B]FIG. 6B is a top perspective view of an exterior view of a complimentary portion of the forearm for the embodiment of FIG. 6A. [Figure 7] FIG. 1 is a schematic perspective bottom view of the internal components of a forearm of a robotic device according to one embodiment. [Figure 8A] FIG. 5B is a cutaway side view of the internal components of the forearm of the embodiment of FIG. 5A taken along line AA, further detailing the electrical components. [Figure 8B] FIG. 8B is a close-up view of cross section CC of the embodiment of FIG. 8A. [Figure 9A] FIG. 1 is a perspective view of the exterior of a forearm according to one embodiment. [Figure 9B] FIG. 9B is a perspective internal view of the embodiment of FIG. 9A. [Figure 10A] FIG. 1 is a perspective view of an embodiment of a robotic device including an inner fluid seal. [Figure 10B] FIG. 10B is a perspective view of the embodiment of FIG. 10A, further including an additional outer fluid seal. [Figure 11A] FIG. 13 is a side cutaway view of one embodiment of a rigid-flex PCB component in the forearm of the device. [Figure 11B] FIG. 11B is a further perspective view of the embodiment of FIG. [Figure 12A] FIG. 1 illustrates a top view of a robotic device during insertion, according to one embodiment. [Figure 12B] FIG. 12B is a front view of the device of FIG. 12A. [Figure 12C] FIG. 12B is a side view of the device of FIG. 12A. [Figure 12D] FIG. 12B is a perspective view of the device of FIG. 12A. [Figure 13A] FIG. 1 illustrates a top view of a robotic device during insertion, according to one embodiment. [Figure 13B] FIG. 13B is a front view of the device of FIG. 13A. [Figure 13C] FIG. 13B is a side view of the device of FIG. 13A. [Figure 13D] FIG. 13B is a perspective view of the device of FIG. 13A. [Figure 14A]FIG. 1 illustrates a top view of a robotic device during insertion, according to one embodiment. [Figure 14B] FIG. 14B is a front view of the device of FIG. 14A. [Figure 14C] FIG. 14B is a side view of the device of FIG. 14A. [Figure 14D] FIG. 14B is a perspective view of the device of FIG. 14A. [Figure 15A] FIG. 1 illustrates a top view of a robotic device during insertion, according to one embodiment. [Figure 15B] FIG. 15B is a front view of the device of FIG. 15A. [Figure 15C] FIG. 15B is a side view of the device of FIG. 15A. [Figure 15D] FIG. 15B is a perspective view of the device of FIG. 15A. [Figure 16A] FIG. 1 illustrates a top view of a robotic device during insertion, according to one embodiment. [Figure 16B] FIG. 16B is a front view of the device of FIG. 16A. [Figure 16C] FIG. 16B is a side view of the device of FIG. 16A. [Figure 16D] FIG. 16B is a perspective view of the device of FIG. 16A. [Figure 17A] FIG. 1 illustrates a top view of a robotic device during insertion, according to one embodiment. [Figure 17B] FIG. 17B is a front view of the device of FIG. 17A. [Figure 17C] FIG. 17B is a side view of the device of FIG. 17A. [Figure 17D] FIG. 17B is a perspective view of the device of FIG. 17A. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] It is understood that the various embodiments of the robotic devices and associated methods and systems disclosed herein can be incorporated into or used in conjunction with any other known medical devices, systems, and methods. It is understood that the various embodiments of the robotic devices and associated methods and systems disclosed herein can be incorporated into or used in conjunction with any other known medical devices, systems, and methods. For example, various embodiments disclosed herein may be incorporated by reference in any of the following co-pending U.S. applications: 11 / 766,683 (filed June 21, 2007, entitled "Magnetic Coupleable Robotic Devices and Related Methods"), 11 / 766,720 (filed June 21, 2007, entitled "Magnetic Coupleable Surgical Robotic Devices and Related Methods"), 11 / 966,741 (filed December 28, 2007, entitled "Methods, Systems, and Devices for Surgical Visualization and Device Manipulation"), 61 / 030,588 (filed February 22, 2008), and 12 / 192,663 (filed August 15, 2008, entitled "Medical Inflation, Attachment, and Delivery Devices and Related Methods"). 12 / 192,779 (filed August 15, 2008, entitled "Modular and Cooperative Medical Devices and Related Systems and Methods"), 61 / 640,879 (filed May 1, 2012), 13 / 493,725 (filed June 11, 2012, entitled "Methods, Systems, and Devices Relating to Surgical End Effectors"), 13 / 546,831 (filed July 11, 2012, entitled "Robotic Surgical Devices, Systems,Nos. 61 / 680,809 (filed August 8, 2012), 13 / 573,849 (filed October 9, 2012, entitled "Robotic Surgical Devices, Systems, and Related Methods"), and 13 / 738,706 (filed January 10, 2013, entitled "Methods, Systems, and Devices for Surgical Access and Insertion"), and U.S. Patent Nos. 7,492,116 (filed April 3, 2007, entitled "Robot for Surgical Applications"), 7,772,796 (filed November 29, 2007, entitled "Robot for Surgical Applications"), 8,179,073 (issued May 15, 2012, entitled "Robotic Devices with Agent Delivery Components and Related No. 8,343,171 (filed July 11, 2008, entitled "Methods and Systems of Actuation in Robotic Devices"), and No. 8,679,096 (filed November 26, 2008, entitled "Multifunctional Operational Component for Robotic Devices"), all of which are incorporated herein by reference in their entirety.

[0008] Certain device and system implementations disclosed in the above-listed applications can be combined with support components similar to those disclosed herein and deployed within a patient's body cavity. As used herein, "in vivo device" means any device that can be positioned, manipulated, or controlled, at least in part, by a user while deployed within a patient's body cavity, including any device that is coupled to a support component (e.g., a rod or other such component that is placed through an opening or orifice in the body cavity), and also including any device that is positioned substantially against or adjacent to the wall of a patient's body cavity, further including any such device that is internally actuated (having no external source of motive force), as well as any device that can be used laparoscopically or endoscopically during a surgical procedure. As used herein, the terms "robot" and "robotic device" refer to any device that can perform a task, either automatically or in response to commands from an external console or control system, as previously described.

[0009] Certain embodiments provide for the insertion of the invention into the cavity while maintaining sufficient ventilation of the cavity. Further embodiments minimize the surgeon's or surgical user's physical contact with the invention during the insertion process. Other implementations enhance the safety of the insertion process for the patient and the invention. For example, some embodiments provide for visualization of the invention as it is inserted into the patient's cavity to ensure that no harmful contact occurs between the system / device and the patient. Additionally, certain embodiments allow for minimization of the size / length of the incision. Further implementations reduce the complexity of the access / insertion procedure and / or the steps required for the procedure. Other embodiments relate to devices that have a minimal profile, minimal size, or are generally minimal in function and appearance to enhance ease of handling and use.

[0010] Certain implementations disclosed herein relate to "combination" or "modular" medical devices that can be assembled into various configurations. For purposes of this application, "combination device" and "modular device" both refer to any medical device that has modular or interchangeable components that can be arranged into various different configurations. The modular components and combination devices disclosed herein also include segmented triangular or square shaped combination devices. These devices, made up of modular components (also referred to herein as "segments") that are joined to form triangular or square shaped configurations, can provide leverage and / or stability during use while also providing substantial payload space within the device that can be used for larger or more manipulative components. Similar to the various combination devices disclosed and described above, according to one embodiment, these triangular or square shaped devices can be placed inside a patient's body cavity in a manner similar to these devices described and disclosed above.

[0011] As generally shown in Figures 1A, 1B, 1C, and 1D, certain exemplary embodiments relate to a device 10 comprising a body 12 and two arms 14A, 14B operably connected thereto. The body 12 further comprises a casing 30 as shown. The body 12 is also referred to as the "device body." The arms 14A, 14B each comprise a first connecting link 16A, 16B that connects the arm 14A, 14B to the body 12.

[0012] 1B-1C, the first connecting link 16A, 16B may also be referred to herein as a "first connecting component" or "shoulder link" and is part of a first rotatable joint 24A, 24B (also referred to herein as a "shoulder joint"). Each arm 14A, 14B includes an upper arm (also referred to herein as an "inner arm", "inner arm assembly", "inner link", "inner link assembly", "upper arm assembly", "first link", or "first link assembly") 18A, 18B and a forearm (also referred to herein as an "outer arm", "outer arm assembly", "outer link", "outer link assembly", "forearm assembly", "second link", or "second link assembly") 20A, 20B.

[0013] As shown in Figures 1A-1C and further described below with respect to Figures 12-17, the upper arms 18A, 18B are rotatably coupled to the connecting links 16A, 16B and rotatably coupled to the body 12. The arms 14A, 14B each include a second connecting link 22A, 22B that connects the upper arms 18A, 18B to the forearms 20A, 20B, respectively. The second connecting link 22A, 22B may also be referred to herein as a "second connecting component" or "elbow link" and is part of a second rotatable joint 26A, 26B (also referred to herein as an "elbow joint"). More specifically, in the right arm 14A, the upper arm 18A is rotatably coupled to the forearm 20A at the elbow joint 26A via the elbow link 22A, while in the left arm 14B, the upper arm 18B is rotatably coupled to the forearm 20B at the elbow joint 26B via the elbow link 22B.

[0014] As shown, the arms 14A, 14B also include end effectors 28A, 28B operably coupled to the distal ends of the forearms 20A, 20B, respectively. The end effectors may also be referred to herein as "operational components."

[0015] In one implementation, the arms 14A, 14B each have six degrees of freedom; that is, as described in more detail below, the arms 14A, 14B each have three degrees of freedom at the shoulder, one at the elbow, and two at the end effector (which can be rotated - the roll of the end effector - and opened / closed). Thus, the six degrees of freedom of each arm 14A, 14B are similar to the degrees of freedom of a human arm (which also has three degrees of freedom at the shoulder and one at the elbow). One advantage of an arm with four degrees of freedom (with an end effector with two degrees of freedom) is that the end effector can have multiple orientations at the same Cartesian point. This additional dexterity allows the surgeon or other user more freedom and more intuitive control while operating the device.

[0016] The internal components of the body 12 are shown in various embodiments shown in Figures 2A, 2B, 2C, 2D, and 2E. In these figures, the body 12 is shown without its casing 30. More specifically, these figures show the internal components that control / actuate the right arm 14A and the right half of the body 12. It should be understood that the internal components of the left half (not shown) that operate / control / actuate the left arm 14B are substantially similar to those shown and described herein, and the description provided below applies equally to these components.

[0017] 2A, 2B, and 2C include the internal structure or support components of the body 12. In one implementation, the body 12 includes an internal top cap 40, an internal support rod 42, and an internal support chassis 44, as shown. The support rod 42 connects the top cap 40 to the support chassis 44. In certain embodiments, the support chassis includes an aluminum structure. In other embodiments, an injection molded polymer may be used. These components maintain the structure of the body 12, provide structural support to the components placed therein, and, in certain embodiments, are covered by a housing or shell. According to one embodiment, the internal top cap 40 defines three partial lumens 46A, 46B, 46C, as best shown in FIG. 2C. The top cap 40 connects to the body casing 30 such that each of the partial lumens 46A, 46B, 46C is formed into a complete lumen defined by the connection of the cap 40 and the casing 30. As will be described in more detail below, these lumens 46A, 46B, 46C may be configured to receive various wires, cords, or other components to be inserted into or through the body 12.

[0018] In contrast to Figures 2A-2C, Figure 2D shows the internal actuation and control components of the right half of the body 12, hiding the internal structure or support components to better show the internal actuation and control components, which are configured to provide two degrees of freedom at the shoulder joint 24A.

[0019] FIG 2E is a close-up view of the distal end of the body 12. In one embodiment, certain internal components shown in FIGS. 2D and 2E are configured to actuate rotation at the shoulder joint 24A about an axis A (best shown in FIG. 2B) that is parallel to the longitudinal axis of the body 12. This rotation about axis A is also referred to as "yaw" or "shoulder yaw." Rotation, in one aspect, occurs as follows: An actuator 60 (i.e., in this implementation, a motor assembly 60) is provided. The motor assembly 60 is operably coupled to a proximal driver gear 62 that is coupled to a proximal driven gear 64 such that rotation of the proximal driver gear 62 causes rotation of the proximal driven gear 64. The proximal driven gear 64 is fixedly coupled to a proximal transmission shaft 66 (with a distal transmission gear 68 at the opposite end of the shaft 66). Distal transmission gear 68 is coupled to a distal driven gear 70 that is fixedly coupled to a distal transmission shaft 72. A magnet holder 76, which contains a magnet, is also operably coupled to distal transmission gear 68. The holder 76 and magnet are operably coupled to a magnet encoder (not shown).

[0020] It will be understood that the magnet holder 76, magnet, and magnet encoder (and similar components as described elsewhere herein with respect to other joints) are components of an absolute position sensor that is the same or substantially the same as one or more of the absolute position sensors disclosed in U.S. Application Nos. 13 / 573,849, filed October 9, 2012, and 13 / 833,605, filed March 15, 2013, which are incorporated by reference in their entireties. Distal transmission shaft 72 is fixedly coupled at its distal end to a rotatable pitch housing 74 (best shown in FIGS. 2B and 2E) such that rotation of distal driven gear 70 causes rotation of shaft 72, and thereby rotation of housing 74 about axis A, as shown in FIG. 2B.

[0021] According to one implementation, certain other internal components shown in FIG. 2D are configured to actuate rotation at the shoulder joint 24A about an axis B (best seen in FIG. 2D) perpendicular to the longitudinal axis of the body 12. This rotation about axis B is also referred to as "pitch" or "shoulder pitch." In one embodiment, the rotation occurs as follows. An actuator 80 (i.e., in this implementation, a proximal shoulder motor assembly 80) is provided. The motor assembly 80 is operably coupled to a proximal shoulder driver gear 82, which is coupled to a proximal shoulder driven gear 84 such that rotation of the proximal shoulder driver gear 82 causes rotation of a proximal shoulder driven gear 84. The driven gear 84 is fixedly coupled to a proximal shoulder transmission shaft 86 (with a proximal shoulder transmission gear 88 at the opposite end of the shaft 86).

[0022] The proximal transmission gear 88 is coupled to a distal shoulder driven gear 90 which is fixedly coupled to a distal shoulder shaft 92. A magnet holder 98 containing a magnet is also operably coupled to the driven gear 90. The holder 98 and magnet are operably coupled to a magnet encoder (not shown). As best shown in FIG. 2E, a portion of the distal shoulder shaft 92 is disposed within the lumen 72A of the shaft 72 described above and extends out the distal end of the shaft 72 into the housing 74. As best shown in FIG. 2E, the distal end of the shaft 92 is coupled to a rotation gear 94 which is a bevel gear 94. The rotation gear 94 is operably coupled to a link gear 96 (which is also a bevel gear 96), according to one implementation. Link gear 96 is operably coupled to shoulder link 16A (described above) such that rotation of shaft 92 causes rotation of rotation gear 94, which in turn causes rotation of link gear 96, and thus link 16A, about axis B, best shown in FIG. 2D.

[0023] In this embodiment, the two axes of rotation are coupled. That is, if only rotation about axis A (pure yaw) is desired, then the "pitch drive train" (motor 80 and all coupled gears and components necessary to achieve rotation about axis B) must match the speed of the "yaw drive train" (motor 60 and all coupled gears and components necessary to achieve rotation about axis A) so that there is no relative angular displacement between pitch housing 74 and rotation gear 94. In contrast, if only rotation about axis B (pure pitch) is desired, then the yaw drive train must hold position while the pitch drive train is actuated.

[0024] 2A, the body 12 includes a rigid-flex PCB 100 disposed therein that is operably coupled to and in communication with the motors 60, 80 and magnet encoders (not shown) to provide yaw and pitch functions.

[0025] According to another embodiment, at least one connecting component is associated with the body 12. More specifically, in this implementation, the power / communication line 102 and the ablation power line 104 are coupled at their proximal ends to one or more external power sources (not shown) and extend to the device 10 through one or more of the three lumens 46A, 46B, 46C defined in part by the internal top cap 40. The lines 102, 104 extend through the body 12 and exit as shown in FIG. 2B to extend to the upper arm segment. In certain embodiments, the lines 102, 104 are not continuous but occur in series. In certain of these embodiments, the lines include termini at different PCB boards. In further embodiments of the lines, they may extend in parallel.

[0026] In one embodiment, the body 12 can be coupled at its proximal end to a deployment rod (also referred to as an "insertion rod") (not shown). It is understood that the deployment rod can be any such known component for aiding in the deployment of the device 10 and / or in retaining and stabilizing the deployment of the device 10. According to one implementation, the power / communication lines 102 and / or the ablation power lines 104 can extend proximally through one or more lumens in the deployment rod.

[0027] In one embodiment, any motor described and shown herein can be a brush or brushless motor, such as a brushless DC motor. Further, the motor can be, for example, a 6mm, 8mm, or 10mm diameter motor. Alternatively, any known size that can be incorporated into a medical device can be used. In a further alternative, the actuator can be any known actuator used in a medical device to actuate a component movement or action. Examples of motors that can be used for the motors described herein include the EC 10 BLDC + GP10A Planetary Gearhead, the EC 8 BLDC + GP8A Planetary Gearhead, or the EC 6 BLDC + GP6A Planetary Gearhead, all of which are commercially available from Maxon Motors, located in Fall River, Massachusetts.

[0028] According to one embodiment, Figures 3A, 3B, 3C, 3D, 3E, 4A, 4B, 4C, 4D, and 4E show the internal components of the right upper arm 18A, which are shown in those figures without their casing. More specifically, these figures show the right arm 14A and the internal components therein. It will be understood that the internal components within the left upper arm 18B are substantially similar to those shown and described herein, and the description provided below applies equally to these components.

[0029] Figures 3A-3E show the internal components of the right upper arm 18A, including the actuators, drive components, and electronics, with the internal structure or support components hidden to better show the internal components. In contrast to Figures 3A-3E, Figures 4A-4E include both the internal actuator, drive, and electronics components, but also the internal structure or support components of the right upper arm 18A.

[0030] In one embodiment, certain internal components shown in Figures 3A-3E are configured to actuate rotation at the shoulder link 16A about an axis C (best seen in Figure 3B) that is parallel to the longitudinal axis of the right upper arm 18A. This rotation about axis C is also referred to as "shoulder roll." Rotation, in one aspect, occurs as follows: A first shoulder actuator 120 (i.e., in this embodiment, a motor assembly 120) is provided. The motor assembly 120 is operably coupled to a first shoulder driver gear 122. The driver gear 122 is supported by a first shoulder bearing pair 124. The driver gear 122 is coupled to a shoulder driven gear 126 such that rotation of the first shoulder driver gear 122 causes rotation of the driven gear 126. The driven gear 126 is fixedly coupled to the shoulder link 16A such that rotation of the driven gear 126 causes rotation of the shoulder link 16A about axis C as shown in FIG. 3B. The driven gear 126 is supported by a second bearing pair 128. A magnet holder 130, which further includes a magnet, is also operably coupled to the driven gear 126. The holder 130 and magnet are operably coupled to a magnet encoder 132.

[0031] Rotation of shoulder link 16A about axis C causes right upper arm 18A (and thus forearm 20A) to rotate relative to body 12. According to one embodiment, this rotation adds an additional degree of freedom not offered in previous two-arm surgical devices.

[0032] According to one implementation, certain internal components shown in Figures 3A-3E are configured to actuate rotation at the elbow link 22A about an axis D (best shown in Figure 3C) perpendicular to the longitudinal axis of the right upper arm 18A. This rotation about axis D is also referred to as "elbow yaw." The rotation occurs, in one aspect, as follows: An actuator 140 (i.e., in this implementation, a second upper arm motor assembly 140) is provided. The motor assembly 140 is operably coupled to a second upper arm driver gear 142 (a bevel gear in this embodiment). The driver gear 142 is supported by a bearing 144. The driver gear 142 is coupled to a driven gear 146 such that rotation of the driver gear 142 causes rotation of the driven gear 146. Driven gear 146 is fixedly coupled to link gear 148, which is coupled to gear teeth 158 (best seen in FIG. 3B) of elbow link 22A such that rotation of driven gear 146 causes rotation of elbow link 22A about axis D, as shown in FIG. 3C. Driven gear 146 and link gear 148 are supported by bearing pair 150. Elbow link 22A is further supported by bearing pair 152. A magnet holder 154 containing a magnet is also operably coupled to elbow link 22A. Holder 154 and the magnet are operably coupled to magnet encoder 156.

[0033] According to one embodiment, the further coupling of the link (or mesh) gear 148 and elbow link 22A can provide certain advantages, including further external reduction (because gear 148 has fewer gear teeth than elbow link 22A), shortening of the upper arm 18A, and improved range of motion of the joint. In various embodiments, such as the embodiment shown in Figures 4A-4E, the robotic device exhibits improved range of motion of the elbow joint by reducing the relative distance between the center of rotation of elbow link 22A and the desired direction of travel, preventing physical obstruction (indicated by arrow A in Figure 2B).

[0034] 4B, the upper arm 18A can include a rigid-flex PCB 160 disposed therein. In one embodiment, the PCB 160 is operably coupled to and in communication with the actuators 120, 140 and the magnet encoders 132, 156.

[0035] According to another embodiment, at least one connecting component is associated with upper arm 18A. More specifically, in this implementation, power / communication lines 102 and ablation power lines 104 enter through ports (not shown) at the proximal end of upper arm 18A and exit through ports (not shown) at the distal end.

[0036] 5A-9B show various embodiments of the right forearm 20A. Various implementations disclosed and shown herein include actuators, drive components, and electrical equipment that can be used to accomplish both the tool roll and tool drive (open / close motions), as described in further detail below. As described below, the forearm 20A also has two electrically isolated cauterization circuits, allowing for both bipolar and monopolar cauterization end effectors. Certain embodiments are configured to allow for easy removal and replacement of the end effectors ("quick change" construction). Further embodiments include sealing elements that help prevent fluids from entering the mechanism.

[0037] According to one implementation, certain internal components shown in FIGS. 5A-5C are configured to actuate rotation at end effector 28A about axis E (best shown in FIG. 5B) that is parallel to the longitudinal axis of right forearm 20A. This rotation about axis E is also referred to as the "tool roll." Rotation occurs, in one aspect, as follows: An actuator 180 (i.e., in this implementation, motor assembly 180) is provided. Motor assembly 180 is operably coupled to driver gear 182 (which in this embodiment is a spur gear). Driver gear 182 is coupled to driven gear 184 such that rotation of driver gear 182 causes rotation of driven gear 184. Driven gear 184 is fixedly coupled to roll hub 186, which is supported by bearings 188. Roll hub 186 is fixedly coupled to a tool base interface 190 having external threads 190A that are threadably coupled to end effector 28A. Thus, rotation of driven gear 184 causes rotation of roll hub 186, which causes rotation of tool base interface 190, which causes rotation of end effector 28A about axis E as shown in FIG. 5B.

[0038] In one embodiment, certain internal components shown in Figures 5A-5C are configured to actuate the end effector to open and close. This rotation of the end effector arm such that the end effector opens and closes is also referred to as the "tool drive." In one aspect, actuation occurs as follows: An actuator 200 (i.e., in this implementation, a motor assembly 200) is provided. The motor assembly 200 is operably coupled to a driver gear 202 (which in this embodiment is a spur gear). The driver gear 202 is coupled to a driven gear 204 such that rotation of the driver gear 202 causes rotation of the driven gear 204. The driven gear 204 is fixedly coupled to a tool drive nut 206, which is supported by a bearing pair 208. The tool drive nut 206 has a threaded inner lumen 206A, which is threadedly coupled to a lead screw 210. More specifically, the external threads of the lead screw 210 are threadably coupled to the threads on the internal lumen 206A. The lead screw 210 is rotationally coupled to the tool base interface 190 (described above). More specifically, the tool base interface 190 has a square shaped internal lumen 190A, and the distal end of the lead screw 210 has a square shaped protrusion that fits within the internal lumen 190A, thereby coupling with the tool base interface 190. The distal end of the lead screw 210 can move translationally within the lumen 190A, but cannot rotate relative to the tool base interface 190, and thus the lead screw 210 can move translationally relative to the tool base interface 190, but cannot rotate relative to it.

[0039] Lead screw 210 also includes an insulating sleeve 212 disposed on an outer portion of lead screw 210, which serves to maintain separate electrocautery channels, as described below. Lead screw 210 further includes a threaded inner lumen 210A and is threadably coupled to a tool pin 214. Tool pin 214 is operatively coupled to a known linkage mechanism within end effector 28A such that movement of tool pin 214 causes the gripper arms or blades to open and close. Thus, actuation of gear 202 causes rotation of driven gear 204, which rotates tool drive nut 206. Rotation of tool drive nut 206 moves lead screw 210 as a result of the threadable connection of nut 206 and screw 210. Movement of screw 210 moves tool pin 214, which causes the arms or blades of end effector 28A to open and close.

[0040] In this embodiment, these two rotational axes are coupled, i.e., if pure roll is desired, the tool open / close drive train must match the speed of the roll train so that there is no relative angular displacement between the tool drive nut 206 and the tool base interface 190.

[0041] According to one implementation, the end effector 28A can be quickly and easily coupled and disengaged from the forearm 20A in the following manner: With both the roll and drive shafts fixed or held in place, the end effector 28A can rotate, thereby coupling or disengaging the threads 190A and 210A. That is, when the end effector 28A rotates in one direction, the end effector 28A is coupled to the forearm 20A, and when the end effector 28A rotates in the other direction, the end effector 28A is disengaged from the forearm 20A.

[0042] According to one embodiment, forearm 20A has two independent cauterization channels (referred to herein as "Channel A" and "Channel B"), allowing for the use of either bipolar or monopolar cauterization end effectors.

[0043] Referring to FIG. 6A, as shown, the channel A components of a particular exemplary embodiment are shown in the forearm 20A. The PCB 220 is electrically coupled to lead A of an ablation power line (e.g., the ablation line 104 described above), which is coupled to an external power source, such as an ablation generator. The PCB 220 is further electrically coupled to a pin 222, which is electrically coupled to and slidably disposed within a socket 224 (defined at or -electrically and mechanically- coupled to the proximal end of the lead screw 210 described above). The lead screw 210 is electrically and mechanically coupled to an end effector pin 214, as best shown in FIG. 5C. Thus, energizing lead A in the ablation line 104 energizes channel A in the bipolar ablation end effector 28A. Particular embodiments of the forearm further include at least one insulator 225.

[0044] As shown in Figures 6B and 7, the channel B components are shown on the forearm 20A as shown. The PCB 220 described above is also electrically coupled to lead B of an ablation power line (e.g., the ablation line 104 described above) that is coupled to an external power source. The PCB 220 is further electrically coupled to a conductive rod 240, which is electrically coupled to a wiper 242. The wiper 242 is a tensioned component supported on one end by a mechanical support 244. An insulating insert 246 is disposed between the wiper 242 and the mechanical support 244. At its free end, the wiper 242 is supported by a preloader 248. Based on this structure, the wiper 242 is loaded or urged (described above) - like a leaf spring - against the tool-based interface 190, and thus becomes electrically coupled to the tool-based interface 190. The tool base interface 190 is mechanically coupled to the end effector 28A and electrically coupled to channel B of the end effector 28A. Thus, energizing lead B in the ablation line 104 energizes channel B in the bipolar ablation end effector 28A. In the exemplary embodiment, the channel A components are electrically isolated from the channel B components, and both channels are electrically isolated from the chassis to enhance patient safety.

[0045] In one implementation, the forearm 20A includes at least one fluid-sealing interface that helps prevent fluid from entering the forearm 20A. One such mechanism is a monolithic, single-piece housing 260, according to one embodiment, shown in FIGS. 9A and 9B. The one-piece nature of the housing 260 significantly reduces the number of interfaces that must be sealed, and therefore the number of interfaces that are more susceptible to fluid leakage. The housing 260 is configured to slide over the internal components of the forearm 20A. That is, the proximal end of the housing 260 defines an opening through which the housing 260 can be placed over the forearm 20A (or the forearm 20A can be inserted into the lumen) until the housing 260 is properly positioned over the forearm 20A. As best shown in FIG. 9B, the housing 260 can include an O-ring 262 disposed in a groove defined in the housing 260 around a hole 264 defined in the distal end of the housing 260. Bore 264 is configured to receive end effector 28A, which in certain embodiments is the distal end of roll hub 186. In one embodiment, roll hub 186 (described above) is placed through bore 264 such that O-ring 262 is configured to be preloaded onto roll hub 186, thereby forming a fluid seal between housing 260 and the outer surface of hub 186, which in certain embodiments may further include a stainless steel ring to enhance sealing.

[0046] In a further embodiment shown in FIG. 8A, the forearm 20A has two grooves 270, 272 defined in an outer portion of the forearm housing 260 (described above). The grooves 270, 272 can be configured to provide attachment points for an outer barrier (such as the first barrier 300 described in more detail below) such that an elastic band defined in the opening of the sleeve of the inner barrier 300 can be placed in the grooves 270, 272, thereby enhancing coupling of the barrier 300 to the housing 260 and thus enhancing the fluid seal. In one embodiment, the grooves 270, 272 surround the entire forearm housing 260. Alternatively, the first barrier 300 can be joined to the housing 260 via adhesive or welding. In a further alternative, the housing 260 and the first barrier 300 can be assembled as a single piece.

[0047] According to another implementation, as shown in FIGURE 8A, the forearm 20A housing 260 can have a groove 280 defined therein about a hole 282 in the housing 260 through which the end effector 28A is disposed. The groove 280 can be configured to provide an attachment point for an outer barrier (such as the outer barrier 310 described in more detail below) such that an elastic band defined in an opening in the sleeve of the second barrier 310 can be disposed in the grooves 270, 272, thereby enhancing coupling of the second barrier 310 to the housing 260 and therefore enhancing the fluid seal.

[0048] As shown in FIG. 8B, another fluid seal can be provided in the form of a flexible membrane 290 attached at one end to the lead screw 210 (described above) and at the other end to the tool base interface 190 (described above), according to another embodiment. More specifically, the membrane 290 is coupled to the lead screw 210 at an O-ring 292 and to the tool base interface 190 at a groove 292. In one embodiment, the membrane 290 is held in the groove 292 by an attachment mechanism, such as a cinch (not shown). This membrane 290 serves to provide a liquid seal for the internal components of the forearm 20A against any external fluids. In one implementation, the seal is maintained whether or not the end effector 28A is coupled to the forearm 20A. Alternatively, the membrane 290 can be replaced by a metal bellows.

[0049] According to certain embodiments, an additional fluid seal can be provided, as shown in Figures 10A and 10B. As shown in Figures 10A and 10B, the device 10 can include two fluidly sealed barriers that protect each of the device arms 14A, 14B. A first barrier (also referred to herein as an "inner barrier") 300 is shown in Figure 10A that is disposed around each arm and is connected to the device body 12 at the sleeve ends FA, 302B via resilient components 304A, 304B that urge opening at the sleeve ends 302A, 302B, thereby enhancing the fluid seal. As shown, in this embodiment, the resilient components 304A, 304B are disposed around the forearm of the arm 14A at the distal end of the forearm. Alternatively, as detailed above with respect to Figure 8A, the resilient components 304A, 304B can be disposed in grooves (such as grooves 270, 272 described above) defined within the forearm.

[0050] In one embodiment, the inner barrier 300 is a membrane that is permanently attached to the device 10 and is not removed during the entire operational life of the device 10. The barrier 300 is sterilized along with the device 10.

[0051] A second barrier (also referred to herein as the "outer barrier") 310 is shown in FIG. 10B which is disposed around each arm 14A, 14B, over the inner barrier 300 described above, and is connected at the sleeve ends 312A, 312B to the device body 12 via resilient components 314A, 314B which facilitate opening at the sleeve ends 312A, 312B relative to the arms 14A, 14B, thereby enhancing the fluid seal.

[0052] 11A and 11B show one embodiment of a rigid-flex PCB component 320 that can be used as the PCB component in the device embodiments described above. It is understood that rigid-flex fabrication is a known manufacturing method. In one embodiment, the PCB component 320 is custom designed and manufactured, but is fabricated using known manufacturing methods.

[0053] In the use shown in Figures 12A-17D, the embodiments of the device disclosed and contemplated herein are configured to have a consistent cross-section and minimal profile, thereby enhancing ease of insertion of the device through an incision and into a patient's cavity. Furthermore, in one embodiment, the device 10 can be inserted through a specific set of steps that maintain a minimal profile and consistent cross-section in an optimal manner. As shown in Figure 12, the device 10 is prepared for insertion through an incision 330 and into a cavity 340. Note that the arms 14A, 14B of the device 10 are straight. In Figure 13, the device 10 is inserted such that the forearms 20A, 20B are positioned within the cavity 340. As shown in Figure 14, the forearms 20A, 20B can then be rotated as shown to maximize the amount of the device 10 that can be inserted. As the insertion continues, as shown in Figure 15, the upper arms 18A, 18B are also rotated to optimize the surgical space. At this point, the arms 14A, 14B can be moved to their operating positions by first urging them to move in opposite directions as shown in FIG.

[0054] Finally, the arms 14A, 14B are rotated so that the elbows jut outward in FIG. 17, thereby moving the arms 14A, 14B to their preferred operating position. In an exemplary embodiment, the device may be rotated and / or tilted inside the patient relative to the initial insertion position to provide the user with access to all four quadrants with a single insertion. Additionally, as is evident from the insertion of the device shown in FIGS. 12A-17D, the arms of the device are inserted in parallel rather than serially, as is the case with prior surgical robotic devices.

[0055] In one implementation, device 10 includes at least one camera for use with device 10. For example, a camera (not shown) with two degrees of freedom, such as a camera with digital zoom (fan and tilt camera), can be used. In one embodiment, it is inserted through a camera lumen 32 defined at the proximal end of device body 12, as best shown in FIG. 1C. According to one implementation, the camera can be controlled by the user or surgeon with a foot controller and is easily removed, cleaned, and reinserted during the procedure. In another embodiment, the camera can be a standard laparoscope inserted through the same incision, through lumen 32, or through a different incision.

[0056] While multiple embodiments are disclosed, still other embodiments of the present invention will become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative embodiments of the invention. As will be understood, the present invention is capable of modifications in various obvious aspects, all without departing from the spirit and scope of the present invention. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not restrictive.

[0057] Although the present invention has been described with reference to preferred embodiments, workers skilled in the art will recognize that changes may be made in form and detail without departing from the spirit and scope of the invention. The technical ideas that can be understood from the above embodiment will be described below as supplementary notes. [Note] [Appendix 1] 1. A surgical robotic system for performing a surgical procedure on a patient, comprising: a. a robotic device sized to be placed within a cavity of a patient via a port that is placed in an incision in the patient; The device includes: i. a unitary device body including distal and proximal end regions; ii. a first shoulder joint movably coupled to the distal end of the device body; iii. a second shoulder joint movably coupled to the distal end of the device body; iv. A first moveable segmented robotic arm operatively connected to said first shoulder joint, said first moveable segmented robotic arm including: A. a first upper arm segment including a housing containing a plurality of first upper arm actuators, wherein one of said plurality of first upper arm actuators is coupled to said first shoulder joint; B. a first forearm segment including a housing containing at least one forearm actuator; and C. a first operational component; and v. A second moveable segmented robotic arm operatively connected to said second shoulder joint and including: A. a second upper arm segment including a housing containing a plurality of second upper arm actuators, wherein one of said plurality of second upper arm actuators is coupled to said second shoulder joint; B. a second forearm segment including a housing containing at least one forearm actuator; and C. a second operational component; and b. a console in electrical communication with the robotic device, the console configured for controlling the robotic device from outside the patient; Where: a. the unitary device body is configured to be inserted into the port such that the distal end is within the cavity and at least a portion of the device body is outside the cavity; b. the first and second movable segmented arms are positionable substantially parallel to a longitudinal axis of the device body for insertion through the port; c. the first and second forearm actuators are configured and designed to actuate a tool roll and a tool drive of the first and second operational components; 1. A surgical robotic system comprising: [Appendix 2] 2. The surgical robotic system of claim 1, The at least one actuator of the surgical robot system is a brushless DC motor. [Appendix 3] 2. The surgical robotic system of claim 1, The surgical robotic system further comprising a rigid-flex PCB disposed within the device body and in operative communication with the at least one actuator. [Appendix 4] 4. The surgical robotic system of claim 3, comprising: The first movable segmented robotic arm further includes a first elbow joint, where the first upper arm segment is configured to roll, pitch, and yaw relative to the first shoulder joint, and the first forearm segment is configured to yaw relative to the first upper arm segment via the first elbow joint. [Appendix 5] 2. The surgical robotic system of claim 1, A surgical robotic system, wherein the first operational component is selected from the group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, a manipulator arm component, a sensor component, and a lighting component. [Appendix 6] 6. The surgical robotic system of claim 5, The second operational component is selected from the group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, a suction component, a manipulator arm component, a sensor component, and a lighting component. [Appendix 7] 2. The surgical robotic system of claim 1, A surgical robotic system, wherein the first and second forearm segments are configured and designed to allow quick change of the first and second operational components. [Appendix 8] 2. The surgical robotic system of claim 1, A surgical robotic system, wherein the first and second segmented robotic arms are configured and designed to be inserted in parallel. [Appendix 9] 9. The surgical robotic system of claim 8, comprising: A surgical robotic system configured and designed such that the single device body can be rotated and / or tilted within the patient relative to an initial insertion position. [Appendix 10] 2. The surgical robotic system of claim 1, A surgical robotic system, wherein the first and second moveable segmented robotic arms are configured and designed such that, upon insertion, the first and second forearm segments and first and second upper arm segments are oriented substantially perpendicular to the device body. [Appendix 11] 2. The surgical robotic system of claim 1, a. the first upper robotic arm segment is operatively coupled to the body component via the first shoulder joint such that the first upper robotic arm segment can roll, pitch, and yaw relative to the body; and b. The second robotic upper arm segment is operatively coupled to the body component via the second shoulder joint such that the second robotic upper arm segment can roll, pitch, and yaw relative to the body. [Appendix 12] 2. The surgical robotic system of claim 1, The robotic device comprises: a. a first robotic forearm elbow joint; and b. a second robotic forearm elbow joint; A surgical robotic system, wherein the first and second forearms are configured to yaw relative to the upper arm via the first and second elbow joints.

Claims

1. 1. A surgical robotic system for performing a surgical procedure on a patient, the surgical robotic system comprising: a. a robotic device sized to be placed within a cavity of the patient; The robotic device includes the following requirements i to v: i. device body (12), ii. a first shoulder joint (24A) movably connected to a distal end of the device body (12); iii. a second shoulder joint (24B) movably connected to the distal end of the device body (12); iv. a first moveable segmented robotic arm (14A) operatively coupled to said first shoulder joint (24A) and including: A. a first upper arm (18A) including a housing containing a plurality of first upper arm actuators (120); B. A first forearm (20A) including a housing (260) containing at least one first forearm actuator (180); C. a plurality of first driver gears (122, 182) and driven gears (126, 184) constructed and arranged to translate rotational motion from said first upper arm actuator (120) and / or said first forearm actuator (180) into motion of said first moveable segmented robotic arm (14A); and D. a first operational component (28A); v. a second moveable segmented robotic arm (14B) operatively connected to said second shoulder joint (24B) and including: A. a second upper arm (18B) including a housing containing a plurality of second upper arm actuators (120); B. A second forearm (20B) including a housing (260) containing at least one second forearm actuator (180); C. a plurality of second driver gears (122, 182) and driven gears (126, 184) constructed and arranged to translate rotational motion from said second upper arm actuator (120) and / or said second forearm actuator (180) into motion of said second moveable segmented robotic arm (14B); and D. A second operational component (28B); The surgical robotic system further comprises: b. a console in electrical communication with the robotic device, the console configured for controlling the robotic device from outside the patient; a first movable segmented robot arm configured to move in a substantially straight configuration such that a cross-sectional shape of the robotic arm matches a cross-sectional shape of the device body to facilitate insertion of the robotic device into the cavity;

2. 2. The surgical robotic system of claim 1, wherein the first forearm, second forearm, first upper arm and second upper arm actuators (120, 180) are each brushless DC motors.

3. 2. The surgical robotic system of claim 1, further comprising a rigid-flex PCB disposed within the device body (12) and in operative communication with at least one of the first forearm, second forearm, first upper arm and second upper arm actuators (120, 180).

4. 4. The surgical robotic system of claim 3, wherein the first movable segmented robotic arm (14A) further includes a first elbow joint (22A), the first upper arm (18A) configured to roll, pitch, and yaw relative to the first shoulder joint (24A), and the first forearm (20A) configured to yaw relative to the first upper arm (18A) via the first elbow joint (22A).

5. 2. The surgical robotic system of claim 1, wherein the first operational component is selected from the group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, an aspiration component, a manipulator arm component, a sensor component, and a lighting component.

6. 6. The surgical robotic system of claim 5, wherein the second operational component is selected from the group consisting of a grasping component, a cauterizing component, a suturing component, an imaging component, an irrigation component, an aspiration component, a manipulator arm component, a sensor component, and a lighting component.

7. 2. The surgical robotic system of claim 1, wherein the first and second forearms (20A, 20B) are constructed and arranged to enable quick change of the first and second operational components.

8. 2. The surgical robotic system of claim 1, wherein the first and second moveable segmented robotic arms (14A, 14B) are constructed and arranged for side-by-side insertion.

9. 9. The surgical robotic system of claim 8, wherein the device body is configured to be positioned within the cavity of the patient such that a distal end of the device body is within the cavity and at least a portion of the device body is outside the cavity, and further wherein the device body is configured and positioned to be rotated and / or tilted relative to an initial insertion position within the patient.

10. 2. The surgical robotic system of claim 1, wherein the first and second moveable segmented robotic arms (14A, 14B) are constructed and arranged such that the first and second forearms (20A, 20B) and first and second upper arms (18A, 18B) are oriented substantially perpendicular to the device body (12).

11. In the surgical robot system, a. said first upper arm (18A) is operatively connected to said device body (12) via said first shoulder joint (24A) such that said first upper arm (18A) can roll, pitch, and yaw relative to said device body (12); 2. The surgical robotic system of claim 1, wherein the second upper arm (18B) is operatively coupled to the device body (12) via the second shoulder joint (24B) such that the second upper arm (18B) can roll, pitch, and yaw relative to the device body (12).

12. The robotic device comprises: a. a first elbow joint (26A), and b. a second elbow joint (26B); 2. The surgical robot system of claim 1, wherein the first and second forearms (20A, 20B) are configured to be yawable relative to the first and second upper arms (18A, 18B) via the first and second elbow joints (26A, 26B).

13. The surgical robotic system of claim 1 , wherein the robotic device is positioned within the cavity of the patient through an incision.

14. The surgical robotic system of claim 13 , wherein the robotic device is positioned within the cavity via a port disposed within the incision.

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