Robotic surgical devices, systems, and related methods

Abstract

To provide improved surgical methods, systems, and devices.SOLUTION: The various inventions relate to robotic surgical devices, consoles for operating such surgical devices, operating theaters in which the various devices can be used, insertion systems for inserting and using the surgical devices, and related methods.SELECTED DRAWING: Figure 1A-1B

Description

[Technical field]

[0001] [CROSS REFERENCE TO RELATED APPLICATION(S)] This application claims the benefit under 35 U.S.C. §119(e) to U.S. Provisional Application No. 62 / 200,563, filed August 3, 2015, and entitled “Robotic Surgical Devices, Systems, and Related Methods,” which is incorporated herein by reference in its entirety.

[0002] [Field of the Invention] The embodiments disclosed herein relate to various medical instruments and associated components, including robotic and / or in vivo medical instruments and associated components. Certain embodiments include various robotic medical instruments, including robotic devices, that are placed within a body cavity and with a support component placed through an orifice or opening within the body cavity. Other embodiments relate to various systems that include a robotic surgical device and a controller, where the device includes one or more sensors, and where the controller includes one or more motors such that the sensors communicate information used in the controller to operate the motors to provide haptic feedback to a user. [Background technology]

[0003] Invasive surgical procedures are necessary to address a variety of medical conditions and, where possible, minimally invasive procedures such as laparoscopy are preferred.

[0004] 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 and expensive, unavailable in most hospitals, and having limited sensory and motor capabilities. Summary of the Invention [Problem to be solved by the invention]

[0005] There is a need in the art for improved surgical methods, systems, and devices. [Means for solving the problem]

[0006] Described herein are various robotic surgical systems, including certain systems with camera lumens configured to receive various camera systems. Further embodiments relate to surgical insertion devices configured to be used to insert various surgical devices into a patient's cavity while maintaining ventilated the cavity.

[0007] One or more computer systems may be configured to perform particular operations or actions by virtue of having installed thereon software, firmware, hardware, or a combination thereof that causes the system to perform the operations during operation. One or more computer programs may be configured to perform particular operations or actions by virtue of containing instructions that, when executed by a data processing device, cause the device to perform the operations.

[0008] In one example, the robotic surgical system includes: a device body comprising a distal end; a proximal end, and a camera lumen defined within the device body, the camera lumen comprising: (1) a proximal lumen opening at the proximal end of the device body; (2) a socket portion defined distal to the proximal lumen opening, the socket portion having a first diameter and a first connecting component; (3) an extension portion defined distal to the socket portion, the extension portion having a second, smaller diameter; and (4) a distal lumen opening at the distal end of the device body, the distal lumen opening defined at a distal end of the extension portion; first and second shoulder joints operably coupled to a distal end of the device body; a first robotic arm operably coupled to the first shoulder joint; and a second robotic arm operably coupled to a second shoulder joint; robotic surgical devices; and, a handle comprising: a distal end configured to be positionable within the socket portion; and a second coupling component configured to releasably couple with the first coupling component to thereby releasably lock the handle within the socket portion; an elongated tube operably coupled to the handle, the elongated tube configured and sized for placement through the extension portion, the elongated tube comprising: a rigid portion; an optical portion; and a flexible portion operably connecting the optical portion to the rigid portion, wherein the elongated tube has a length such that at least the optical portion is configured to extend distally from the distal lumen opening when a camera component is positioned through the camera lumen; Camera Component Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the operations of the method.

[0009] Implementations may include one or more of the following features: The robotic surgical system, wherein the camera lumen further comprises a seal portion defined distal to the socket portion and proximal to the extension portion. The robotic surgical system, wherein the seal portion is configured to receive a ring seal and a one-way seal. The robotic surgical system, wherein the seal portion is further configured to receive a retaining component, wherein the ring seal is retained within the ring seal retaining component. The robotic surgical system, wherein the ring seal retaining component comprises at least one protrusion extending from an outer wall of the ring seal retaining component. The robotic surgical system, wherein the socket portion further comprises a channel defined within an inner wall of the socket portion, wherein the channel is configured to receive the at least one protrusion. The robotic surgical system, wherein the handle comprises a controller configured to operate the camera component. The robotic surgical system, wherein the distal lumen opening is disposed between the first and second shoulder joints. The robotic surgical system, wherein the optical portion is configured to be tiltable at the flexible portion relative to the rigid portion, wherein the optical portion has a straight configuration and a tilted configuration. The robotic surgical system, wherein the elongated tube is configured to be rotatable with respect to the handle. The robotic surgical system, wherein the socket portion further comprises an inner wall comprising a channel configured to receive an insertion device. The robotic surgical system, wherein the camera lumen comprises a proximal lumen opening at a proximal end of the device body; a socket portion defined distally of the proximal lumen opening, the socket portion comprising a first diameter and a first connecting component; an extension portion defined distally of the socket portion, the extension portion having a second, smaller diameter; and a distal lumen opening at a distal end of the device body, the distal lumen opening being defined at a distal end of the extension portion.The robotic surgical system, the first robotic arm further comprises a first arm upper arm; a first arm elbow joint; and a first arm forearm, the first arm upper arm configured to roll, pitch and yaw with respect to the first shoulder joint, and the first arm forearm configured to yaw with respect to the first arm upper arm by the first arm elbow joint. The surgical robotic system, the first robotic arm further comprises at least one first arm actuator disposed within the first robotic arm. The robotic surgical system, the second robotic arm further comprises a second arm upper arm; a second arm elbow joint; and a second arm forearm, the second arm upper arm configured to roll, pitch and yaw with respect to the second shoulder joint, and the second arm forearm configured to yaw with respect to the second arm upper arm by the second arm elbow joint. The surgical robotic system, the second robotic arm further comprises at least one second arm actuator disposed within the second robotic arm. The surgical robotic system includes a handle having a distal end configured to be positionable within the socket portion; and a second coupling component configured to releasably couple with the first coupling component to thereby releasably lock the handle within the socket portion. The surgical robotic system further includes at least one PCB disposed within at least one of the first or second robotic arms and in operative communication with at least one of the first and second robotic arms, where the PCB is configured to perform yaw and pitch functions. Implementations of the described techniques may include computer software, methods or processes on a computer-accessible medium, or hardware.

[0010] In one example, the robotic surgical system includes: a device body having a distal end; a proximal end and a camera lumen defined within the device body; first and second shoulder joints operably coupled to a distal end of the device body; a first robotic arm operably coupled to the first shoulder joint; and a second robotic arm operably coupled to the second shoulder joint; Robotic Surgical Devices and, a handle comprising: a distal end configured to be positionable within the socket portion; and a second coupling component configured to releasably couple with the first coupling component to thereby releasably lock the handle within the socket portion; an elongated tube operably coupled to the handle, the elongated tube configured and sized for placement through the extension portion, the elongated tube comprising: a rigid portion; an optical portion; and a flexible portion operably connecting the optical portion to the rigid portion, wherein the elongated tube has a length such that at least the optical portion is configured to extend distally from the distal lumen opening when a camera component is placed through the camera lumen; Camera Component Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the operations of the method.

[0011] The implementation may include one or more of the following features: The robotic surgical system, wherein the camera lumen includes a proximal lumen opening at a proximal end of the device body; a socket portion defined distal to the proximal lumen opening, the socket portion having a first diameter and a first connecting component; an extension portion defined distal to the socket portion, the extension portion having a second, smaller diameter; and a distal lumen opening at a distal end of the device body, the distal lumen opening being defined at a distal end of the extension portion. The robotic surgical system, wherein the first robotic arm further includes a first arm upper arm; a first arm elbow joint; and a first arm forearm, wherein the first arm upper arm is configured to be capable of roll, pitch and yaw relative to the first shoulder joint, and the first arm forearm is configured to be capable of yaw relative to the first arm upper arm by the first arm elbow joint. The surgical robotic system, wherein the first robotic arm further includes at least one first arm actuator disposed within the first robotic arm. The robotic surgical system further comprises a second arm upper arm; a second arm elbow joint; and a second arm forearm, the second arm upper arm configured to roll, pitch and yaw relative to the second shoulder joint, and the second arm forearm configured to yaw relative to the second arm upper arm by the second arm elbow joint. The surgical robotic system further comprises at least one second arm actuator disposed within the second robotic arm. The surgical robotic system comprises a handle having a distal end configured to be positionable within the socket portion; and a second coupling component configured to releasably couple with the first coupling component to thereby releasably lock the handle within the socket portion. The surgical robotic system further comprises at least one PCB disposed within at least one of the first or second robotic arms and in operative communication with at least one of the first and second robotic arms, where the PCB is configured to perform yaw and pitch functions.An implementation of the techniques described may comprise computer software, a method or process on a computer-accessible medium, or hardware.

[0012] In one example, the robotic surgical system includes: a device body comprising a distal end; a proximal end, and a camera lumen defined within the device body, the camera lumen comprising: (1) a proximal lumen opening at the proximal end of the device body; (2) a socket portion defined distal to the proximal lumen opening, the socket portion having a first diameter and a first connecting component; (3) an extension portion defined distal to the socket portion, the extension portion having a second, smaller diameter; and (4) a distal lumen opening at the distal end of the device body, the distal lumen opening defined at a distal end of the extension portion; first and second shoulder joints operably coupled to a distal end of the device body; a first robotic arm operably coupled to the first shoulder joint; and a second robotic arm operably coupled to the second shoulder joint; Robotic surgical devices, and a camera component comprising an elongated tube operably coupled to the handle, the elongated tube configured and sized for placement through the extension portion, the elongated tube comprising: a rigid portion; an optical portion; and a flexible portion operably connecting the optical portion to the rigid portion, wherein the elongated tube has a length such that at least the optical portion is configured to extend distally from the distal lumen opening when the camera component is placed through the camera lumen; Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the operations of the method.

[0013] Implementations may include one or more of the following features: The surgical robotic system includes a handle having a distal end configured to be positionable within the socket portion; and a second coupling component configured to releasably couple with the first coupling component, thereby releasably locking the handle within the socket portion. The surgical robotic system further includes at least one PCB disposed within at least one of the first or second robotic arms and in operative communication with at least one of the first and second robotic arms, where the PCB is configured to perform yaw and pitch functions. Implementations of the described techniques may include computer software, methods or processes on a computer-accessible medium, or hardware.

[0014] 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 modification in various obvious aspects, all without departing from the spirit and scope of the present invention. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature, and not restrictive. [Brief description of the drawings]

[0015] [Figure 1A-1B] FIG. 1A is a front view of a robotic surgical device according to one embodiment, and FIG. 1B is a perspective front view of the device of FIG. 1A. [Fig. 1C-1D] FIG. 1C is a side view of the device of FIG. 1A, and FIG. 1D is an end view of the device of FIG. 1A. [Fig. 1E-1G] FIG. 1E is a further front view of the device of FIG. 1A without the camera component, FIG. 1F is a further side view of the device of FIG. 1A without the camera component, and FIG. 1G is a front view of the camera component according to the embodiment of FIG. 1A. [Figure 2A-2C]FIG. 2A is a perspective view of the proximal end of a robotic surgical device according to one embodiment, FIG. 2B is a rotated perspective view of the device of FIG. 2A, and FIG. 2C is a cutaway view of the proximal end of the device of FIG. 2A. [Figure 3A-3E] FIG. 3A is a perspective front view of a seal insert component according to one embodiment, FIG. 3B is a close-up view of the distal end of the insert component of FIG. 3A without a seal, FIG. 3C is a close-up view of the distal end of the insert component of FIG. 3A showing an O-ring carrier, FIG. 3D is a perspective view of the insert component of FIG. 3A on a robotic device body, and FIG. 3E is a perspective cut-away view of the embodiment of FIG. 3D. [Figure 4A-4D] FIG. 4A is an end view of a camera component according to one embodiment, FIG. 4B is a side view of the embodiment of FIG. 4A in a "down" orientation, FIG. 4C is a side view of the embodiment of FIG. 4A in an "up" orientation, and FIG. 4D is a three-quarter rotated view of the embodiment of FIG. 4C. [Fig. 4E-4H] FIG. 4E is an end view of the camera component showing the internal components according to one embodiment, FIG. 4F is a front view of the embodiment of FIG. 4E in an "up" orientation, FIG. 4G is a side view of the embodiment of FIG. 4A in an "up" orientation, and FIG. 4H is a three-quarter rotated view of the embodiment of FIG. 4G. [Figure 5A-5B] FIG. 5A is a cutaway side view of the proximal end of a camera component inserted into a robotic surgical device according to one embodiment, and FIG. 5B is a closer cutaway side view of the embodiment of FIG. 5A. [Fig. 5C-5D] FIG. 5C is a side view of the internal components of a camera component according to one embodiment, and FIG. 5D is a further internal side view of the embodiment of FIG. 5C. [Figure 5E] FIG. 5D is a perspective view of the embodiment of FIG. 5C. [Fig. 5F-5G] FIG. 5F is a perspective internal view of a camera component inserted into a robotic surgical device according to one embodiment, and FIG. 5G is a further perspective internal view of the embodiment of FIG. 5F. [Figure 6A]FIG. 2 is a side view of the internal components of a camera component according to one embodiment. [Figure 6B-6C] FIG. 6B is a perspective internal view of the internal components of a camera component according to one embodiment, and FIG. 6C is a side internal view of the internal components of the camera component according to the embodiment of FIG. 6B. [Figure 6D-6E] FIG. 6D is an internal front view of the internal components of the camera component according to the embodiment of FIG. 6B, and FIG. 6E is a perspective internal view of the camera component inserted into a robotic surgical device according to one embodiment. [Figure 7A] FIG. 2 is a perspective internal view of a distal end of a camera component according to one embodiment. [Figure 7B] FIG. 13 is a perspective internal view of a distal end of a camera component according to another embodiment. [Figure 7C] 1 is a schematic flow of camera information from the lens to the surgical console according to one embodiment. [Figure 8A-8D] FIG. 8A is an internal front view of the device body without the housing according to one embodiment, FIG. 8B is a side view of the embodiment of FIG. 8A, FIG. 8C is a perspective view of the embodiment of FIG. 8A, and FIG. 8D is an end view of the embodiment of FIG. 8A. [Fig. 8E-8G] FIG. 8E is a perspective view of the rear three-quarters of a device body without a housing according to one embodiment, FIG. 8F is a side view of the embodiment of FIG. 8E, and FIG. 8G is a perspective view of the front three-quarters of the embodiment of FIG. 8E without the housing. [Figure 9A-9C] FIG. 9A is an internal front view of the device body showing the internal components without the housing or support structure according to one embodiment, FIG. 9B is a perspective view of a particular yaw component of the embodiment of FIG. 9A, and FIG. 9C is a perspective view of a particular pitch component of the embodiment of FIG. 9A. [Figure 10] FIG. 1 is a perspective view of a robotic arm having six degrees of freedom according to one embodiment. [Figures 11A-11D]FIG. 11A is a side view of an upper robotic arm without its housing according to one embodiment, FIG. 11B is a rotated side view of the embodiment of FIG. 11A, FIG. 11C is yet another rotated side view of the embodiment of FIG. 11A, and FIG. 11D is an end view of the embodiment of FIG. 11A. [Fig. 11E-11F] FIG. 11E is a perspective view of an upper robotic arm according to one embodiment, and FIG. 11F is a rotated perspective view of the embodiment of FIG. 11E without the housing. [Figure 12A-12B] FIG. 12A is a further rotated view of the embodiment of FIG. 11E, and FIG. 12B is another internal view of the components of the upper robotic arm according to one embodiment. [Fig. 12C-12D] FIG. 12C is a perspective view of a particular yaw component of the embodiment of FIG. 12B, and FIG. 12D is a perspective view of a particular pitch component of the embodiment of FIG. 12B. [Figure 13A] FIG. 1 illustrates a perspective view of a lower robotic arm according to one embodiment. [Figure 13B] FIG. 13B is a rear perspective view of the embodiment of FIG. 13A without the housing. [Fig. 13C-13G] FIG. 13C is a side view of a lower robotic arm without its housing according to one embodiment, FIG. 13D is a rotated side view of the embodiment of FIG. 13C, FIG. 13E is yet another rotated side view of the embodiment of FIG. 13C, FIG. 13F is an end view of the embodiment of FIG. 13C, and FIG. 13G is a perspective view of the embodiment of FIG. 13C. [Figures 14A-14C] FIG. 14A is another internal view of the components of a lower robotic arm according to one embodiment, FIG. 14B is a perspective view of a particular roll component of the embodiment of FIG. 14A, and FIG. 14C is a perspective view of a particular end effector interacting linkage component of the embodiment of FIG. 14A. [Figure 14D] FIG. 1 is a cross-sectional side view of a forearm according to one embodiment. [Fig. 14E-14F] FIG. 14E is a cutaway perspective side view of a forearm according to one embodiment, and FIG. 14F is a cross-sectional side view of a forearm according to one embodiment. [Figure 15A-15B]FIG. 15B is a perspective view of an end effector according to one embodiment; FIG. 15B is a perspective view of an end effector according to one embodiment. [Figure 16A-16B] FIG. 16A is a schematic diagram of a monopolar cauter connection according to one embodiment, and FIG. 16B is a schematic diagram of a bipolar cauter connection according to one embodiment. [Figure 17A-17B] 1 shows several views of a sleeve according to several implementations. [Figures 18A-18C] 1 shows several views of a sleeve according to several implementations. [Figures 19A-19C] 1 shows several views of a sleeve according to several implementations. [Figure 20A-20B] 1 shows several views of a sleeve according to several implementations. [Figures 21A-21C] 1 shows several views of a sleeve according to several implementations. [Figures 22A-22C] 1 shows several views of a sleeve according to several implementations. [Figures 23A-23C] 1 shows several views of a sleeve according to several implementations. [Fig. 24A-24D] Various further implementations of the disclosed systems, devices, and methods are depicted. [Fig. 25A-25C] Various further implementations of the disclosed systems, devices, and methods are depicted. [Figure 26A] Various further implementations of the disclosed systems, devices, and methods are depicted. [Fig. 26B-26E] Various further implementations of the disclosed systems, devices, and methods are depicted. [Figures 27A-27C] Various further implementations of the disclosed systems, devices, and methods are depicted. [Fig. 28A-28B] Various further implementations of the disclosed systems, devices, and methods are depicted. [Fig. 28C-28D] Various further implementations of the disclosed systems, devices, and methods are depicted. [Figures 29A-29D] Various further implementations of the disclosed systems, devices, and methods are depicted. [Fig. 30A-30B] Various further implementations of the disclosed systems, devices, and methods are depicted. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] The various systems and devices disclosed herein relate to devices for use in medical procedures and systems. More specifically, various embodiments relate to various medical instruments, including robotic devices, and associated methods and systems.

[0017] 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 instruments, systems, and methods.

[0018] It is understood that the various embodiments of the robotic devices and related 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 into or used in conjunction with any other known medical devices, systems, and methods, including those disclosed in U.S. Patent No. 8,968,332, issued March 3, 2015, entitled "Magnetic Coupleable Robotic Devices and Related Methods," U.S. Patent No. 8,834,488, issued September 16, 2014, entitled "Magnetic Coupleable Surgical Robotic Devices and Related Methods," U.S. Patent Application 14 / 617,232, filed February 9, 2015, entitled "Robotic Surgical Devices and Related Methods," U.S. Patent Application 11 / 966,741, filed December 28, 2007, entitled "Methods, Systems, and Devices for Surgical Visualization and Devices," and ... U.S. Patent Application No. 61 / 030,588, filed February 22, 2008, U.S. Patent No. 8,343,171, issued January 1, 2013, entitled "Methods and Systems of Actuation in Robotic Devices," U.S. Patent No. 8,828,024, issued September 9, 2014, entitled "Methods and Systems of Actuation in Robotic Devices," U.S. Patent Application No. 14 / 454,035, filed August 7, 2014, entitled "Methods and Systems of Actuation in Robotic Devices," U.S. Patent Application No. 12 / 192,663, filed August 15, 2008, entitled "Medical Inflation, Attachment, and Delivery Devices and Related and U.S. patent application Ser. No. 15 / 018,530, filed Feb. 8, 2016, entitled “Medical Inflation, Attachment,and Delivery Devices and Related Methods"); U.S. Patent 8,974,440 (issued March 10, 2015, entitled "Modular and Cooperative Medical Devices and Related Systems and Methods"); U.S. Patent 8,679,096 (issued March 25, 2014, entitled "Multifunctional Operational Component for Robotic Devices"); U.S. Patent 9,179,981 (issued November 10, 2015, entitled "Multifunctional Operational Component for Robotic Devices"); U.S. Patent Application 14 / 936,234 (issued November 9, 2015, entitled "Multifunctional Operational Component for Robotic Devices"); U.S. Patent 8,894,633 (issued November 25, 2014, entitled "Modular and Cooperative Medical Devices and Related Systems and U.S. Patent No. 8,968,267, issued March 3, 2015, entitled "Methods and Systems for Handling or Delivering Materials for, U.S. Patent No. 9,060,781, issued June 23, 2015, entitled "Methods, Systems, and Devices Relating to Surgical End Effectors," U.S. Patent Application No. 14 / 745,487, filed June 22, 2015, entitled "Methods, Systems, and Devices Relating to Surgical End Effectors," U.S. Patent No. 9,089,353, issued July 28, 2015, entitled "Robotic Surgical Devices, Systems, and Related Methods," U.S. Patent Application No. 14 / 800,423, filed July 15, 2015, entitled "Robotic Surgical Devices, Systems, and Related Methods," U.S. Patent Application No. 13 / 573,849 (filed October 9, 2012, entitled "Robotic Surgical Devices, Systems, and Related Methods"), U.S. Patent Application No. 13 / 738,706 (filed January 10, 2013, entitled "Methods, Systems, and Devices for Surgical Access and Insertion"), U.S. Patent Application No. 13 / 833,605 (filed March 15, 2013, entitled "Robotic Surgical Devices, Systems, and Related Methods"), U.S. Patent Application No. 14 / 661,465 (filed March 18, 2015, entitled "Methods, Systems, and Devices for Surgical Access and Insertion"), U.S. Patent Application No. 13 / 839,422 (filed March 15, 2013, entitled "Single Site Robotic Devices and Related Systems and U.S. Patent No. 9,010,214 (issued April 21, 2015, entitled "Local Control Robotic Surgical Devices and Related Methods"), U.S. Patent Application 14 / 656,109 (filed March 12, 2015, entitled "Local Control Robotic Surgical Devices and Related Methods"); U.S. Patent Application 14 / 208,515 (filed March 13, 2014, entitled "Methods, Systems, and Devices Relating to Robotic Surgical Devices, End Effectors, and Controllers"); U.S. Patent Application 14 / 210,934 (filed March 14, 2014, entitled "Methods, Systems, and Devices Relating to Force Control Surgical Systems"); U.S. Patent Application 14 / 212,686 (filed March 14, 2014, entitled "Robotic Surgical Devices, Systems, and Related Methods"); U.S. Patent Application 14 / 334,383 (filed July 17, 2014, entitled "Robotic Surgical No. 14 / 853,477 (filed September 14, 2015, entitled "Quick-Release End Effectors and Related Systems and Methods"), U.S. patent application 14 / 938,667 (filed November 11, 2015, entitled "Robotic Device with Compact Joint Design and Related Systems and Methods"), and U.S. patent application 62 / 338,375 (filed May 18, 2016, entitled "Robotic Surgical Devices, Systems, and Related Methods"), and U.S. patents 7,492,116 (filed October 31, 2007, entitled "Robot for Surgical Applications"), 7,772,796 (filed April 3, 2007, entitled "Robot for Surgical Applications), and 8,179,No. 6,200,073, filed May 15, 2011, entitled "Robotic Devices with Agent Delivery Components and Related Methods," all of which are incorporated by reference herein in their entirety.

[0019] Certain device and system implementations disclosed in the above-listed applications may be placed within a patient's body cavity in combination with support components similar to those disclosed herein. As used herein, "in vivo device" refers to any device that can be at least partially positioned, manipulated, or controlled by a user while placed 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 any device that is placed 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 in response to commands or automatically.

[0020] Certain embodiments provide for the insertion of the invention into the cavity while maintaining sufficient ventilation of the cavity. Further embodiments minimize physical contact between the invention and the surgeon or surgical user during the insertion process. Other implementations enhance the safety of the insertion process for the patient and the invention. For example, some embodiments provide visualization of the invention as it is inserted into the patient's cavity to ensure that no damaging 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.

[0021] 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 includes 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 structures, 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 operational 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 those devices described and disclosed above.

[0022] Certain embodiments disclosed or contemplated herein may be used for colectomy, a surgical procedure performed to treat patients with lower gastrointestinal diseases such as diverticulitis, Crohn's disease, inflammatory bowel disease, and colon cancer. Approximately two-thirds of known colectomy procedures are performed via a completely open surgical procedure with an 8-12 inch incision and recovery time of up to six weeks. Due to the complex nature of the procedure, existing robotic assisted surgical devices are rarely used for colectomy surgical procedures, with only a manual laparoscopic approach being used in one-third of cases. In contrast, various implementations disclosed herein may be used in a minimally invasive approach to various procedures typically performed "open" by known techniques, with the potential to improve clinical outcomes and health care costs. Additionally, various implementations disclosed herein may be used for any laparoscopic surgical procedure in the position of known mainframe-like laparoscopic surgical robots that reach from outside the patient into the body. That is, the minimally invasive robotic systems, methods, and devices disclosed herein feature small, self-contained surgical devices that are inserted in their entirety through a single incision in the patient's abdomen. Designed to utilize existing tools and techniques familiar to surgeons, the devices disclosed herein do not require a dedicated operating room or special infrastructure, and due to their even smaller size, are expected to be significantly less costly than existing robotic alternatives for laparoscopic surgical procedures. Because of these technical advantages, various embodiments herein may enable minimally invasive approach procedures to be performed in open surgical procedures today.

[0023] 1A-1G, certain exemplary embodiments relate to a device 10 comprising a body 12 comprising two operably coupled arms 14, 16, and a camera component 18 positionable therein. That is, the device 10 comprises a first (or "right") arm 14 and a second (or "left") arm 16, both of which are operably coupled to the body 12 as described in further detail below. The body 12, as shown, comprises a casing (also referred to as a "cover" or "enclosure") 20. The body 12, also referred to as the "device body" 20, comprises two rotatable cylindrical components (also referred to as a "housing" and a "turret"): a first (or "right") housing 22 and a second (or "left") housing 24. Each of the arms 14, 16 also 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") 14A, 16A 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") 14B, 16B. The right upper arm 14A is operably coupled to the right housing 22 of the body 12 at a right shoulder joint 26, and the left upper arm 16A is operably coupled to the left housing 24 of the body 12 at a left shoulder joint 28. Additionally, for each of the arms 14, 16, the forearms 14B, 16B are rotatably coupled to the upper arms 14A, 16A at elbow joints 14C, 16C.

[0024] In the exemplary implementation, as shown, each of the arms 14, 16 also includes an end effector 30, 32 operably coupled to a distal end of the forearm 14B, 16B. The end effectors may also be referred to herein as "manipulation components," various embodiments of which are described in further detail below.

[0025] In one implementation, each of the arms 14, 16 has six degrees of freedom; that is, as described in more detail below, each of the arms 14, 16 has three degrees of freedom at the shoulder joints 26, 28, one degree of freedom at the elbow joints 14C, 16C, and two degrees of freedom at the end effectors 30, 32 (which, in certain embodiments, can be rotated - the roll of the end effector - and opened / closed). Thus, the six degrees of freedom of each arm 14, 16 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 having 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 manipulating the device.

[0026] The camera component 18 is simply inserted and removed from the body 12 as shown in Figure IG according to one embodiment. As shown, the camera component 18 comprises a handle 40, a camera body or tube 42, a distal tube end 18A comprising a camera lens 48, and two shoulders 44, 46 defined at the distal end of the handle 40. That is, the first shoulder 44 has a first diameter and the second shoulder 46 has a second diameter larger than the first diameter.

[0027] According to one embodiment, Figures 2A, 2B, and 2C show the proximal end of the device body 12 with sealed electrical connections or connectors 50, 52, support rod 54, latch 56, and head 58 with an opening 60 defined in body 12. As described herein with respect to Figures 25A-C, in these implementations, the support rod is configured to be attached to a support arm to position the device for use.

[0028] In various implementations, the electrical connectors 50, 52 can provide the robot power and bus communication necessary for the robot functionality, including power and communication connectors, bipolar cautery connectors and monopolar cautery connectors, such as LEMO® push-pull circular connectors. In certain implementations, three connectors can be provided. In the implementation of Figs. 2A-C, the first electrical connector 50 is configured to transmit and receive robot power and bus communication, and the second electrical connector 52 is configured for combined mono- and bi-polar cautery connectivity. Alternatively, the three connectors can be combined into a single integrated custom connector. And in a further alternative, a single cable 53 built directly into the robot can be provided, as shown in Figs. 3D-F. It is understood that a sealed, strain-relieved cable exit location is then present at this location instead of the connectors 50, 52.

[0029] According to these implementations, opening 60 is in fluid communication with a lumen 62 defined through the length of body 12. Lumen 62 is configured to receive camera component 18 and includes a receiving portion (also referred to herein as a “socket portion” or “socket”) 62A, a sealing portion 62B, and an extension portion 62C.

[0030] In certain implementations, socket portion 62A is configured to be a "snug fit", i.e., configured to mate with camera component 18 handle 40 and react or resist all loads or prevent all rotational and translational movement. In various implementations, latch 56 is disposed within socket portion 62A such that it is capable of coupling to clasp portion 72 of camera component 18.

[0031] In various implementations, the seal(s) 63A, 63B are provided within the sealing portion 62B to maintain a fluid seal around the camera 18 when disposed within the lumen 62. The sealing portion 62B is distal with respect to the receiving portion 62A and is configured to receive the seal(s) 63A, 63B against a wall 68 of the lumen 62, as described with respect to Figures 2C-3F.

[0032] In the implementations shown in Figures 2C and 3A-F, the device utilizes a first seal 63A that is a one-way duckbill seal, although it is understood that various other one-way seals may be used in alternative embodiments. In these implementations, a second seal 63B, which may be an O-ring carrier seal, may be disposed proximal to the first seal 63A. As shown in Figures 3A and 3C-F, in various implementations, the O-ring carrier seal 63B comprises an O-ring 65 configured to urge the first seal 63A distally. It is understood that in various implementations, the O-ring may provide a seal against the camera component 18, while the O-ring carrier seal 63A may provide a seal against the lumen 62A against gas or fluid leakage as described herein.

[0033] As described below, in these implementations, when the seals are installed, the O-ring carrier seal 63B presses over the lip 63A1 of the first seal 63A, thereby creating a seal against the inner wall of the housing (shown at 67). The use of the first and second seals 63A, 63B provides certain advantages in certain implementations, as described herein. In situations where the camera component 18 is not present, pressure from the abdominal cavity forces the one-way duckbill seal 63A to close, preventing loss of pressure therein. In situations where the camera is present, the camera and tube 42 forces the duckbill seal 63A to open, allowing passage to the lumen 62, while the O-ring 65 and O-ring carrier seal 63A seal against the rigid camera tube 42 and lumen 62, respectively, to maintain cavity pressure. It is understood that further implementations are of course possible.

[0034] As shown in Figures 3A-F, in various implementations, an elongated insertion component 15 is provided that allows for insertion and removal of seal(s) 63A, 63B for replacement and / or cleaning. As shown in Figures 3A-C, the insertion component 15 can include a seal coupling ring 13 with mounting protrusions 13A, 13B configured to mate with a seal, such as an O-ring carrier seal 63B, to maintain the rotational position of the seal while disposed within the lumen 62. In various implementations, protrusions 17 may be provided to secure the seal in place. Returning to Figure 2C, the distal end of the receiving portion 62A is defined by a shoulder 64 configured to receive the insertion component 15. At least one channel 66 is defined in the lumen 62 and portion of the shoulder 64, as shown, and is arranged to receive corresponding protrusion(s) 67A, 67B disposed on the O-ring carrier seal 63B such that the protrusion(s) 67A, 67B can be disposed within and slid along the channel 66, thereby enabling the seals 63A, 63B to be positioned and locked in position within the lumen 62. The insertion component 15 can then be removed such that the seals 63A, 63B are contained within the lumen 62 for use.

[0035] More specifically, the channel 66 is defined within the lumen 62 having a longitudinal length 66A and a radial length 66B. In a particular implementation, the channel 66 is tapered along the longitudinal length 66A. Thus, the protrusion 67A is disposed on the longitudinal length 66A, and the insertion component 15 is advanced distally until the protrusion 67A reaches the end of the longitudinal length 66A. At this point, the insertion component 15 can be rotated about its longitudinal axis such that the protrusion 67A advances along the radial length 66B. As shown in FIG. 3B, the attachment projections 13A, 13B can prevent rotation of the O-ring seal 63B relative to the insertion component 15 during this rotation. Additionally, the rigid O-ring 65 provides sufficient distal force against the first seal 63A such that it is secured in place as a result of this rotation and locking. The resulting connection of the seals 63A, 63B within the lumen is a strong enough mechanical connection for a user to pass the camera component 18 through the seals 63A, 63B for use without removing the seals 63A, 63B.

[0036] 4A-H show an exemplary implementation of camera component 18. Camera component 18 in this particular implementation is configured to be removably installed within robotic device body 12, as shown in FIGS. 1A-B. More specifically, camera component 18 is configured to be removably disposed through lumen 62 defined within device body 12 such that camera component 18 is inserted through proximal opening 60, through receiving portion, into receiving portion 62A, through sealing portion 62B and seal(s) 63A, 63B, and into extension portion 62C such that a distal portion of camera component 18A and camera lens 48 protrude from distal opening 60A (best shown in FIG. 1A).

[0037] As shown in Figures 4A-H, this embodiment of the camera component 18 comprises a controller (also referred to as a "handle") 40 and an elongated component (also referred to herein as a "tube") 42 operably coupled at its proximal end to the handle 40. As best shown in Figure 4C, the tube 42 comprises a rigid portion 42A, a flexible portion 42B, and an optical portion 42C. Thus, in these implementations, the camera component has two degrees of freedom: pan (rotation left and right) and tilt, which means looking "up and down" at the surgical workspace. Further discussion of these degrees of freedom can be found with respect to Figure 10.

[0038] In one embodiment, the handle 40 is configured to include local electronics for video transmission, along with actuators and related mechanisms for actuating the pan and tilt functions of the tube 42 (best shown with respect to FIG. 4H). It is understood that the local electronics, actuators, and related mechanisms may be known standard components. In a further implementation, the handle 40 may include a light engine. Alternatively, the light engine may be a separate component and a light cable may operably connect the light engine to the handle.

[0039] According to one implementation, rigid portion 42A of tube 42 is substantially rigid and, if necessary, includes appropriate wires and optical fibers for operably connecting optical components in optical portion 42C to handle 40. The substantial rigidity of rigid portion 42A allows for easy manipulation of tube 42, including easy insertion into lumen 62.

[0040] In one embodiment, flexible portion 42B is configured to allow movement of optical portion 42C between the straight configuration of Figure 4B and the tilted configuration shown in Figure 4C, or any position therebetween. Optical portion 42C is substantially rigid, much like rigid portion 42A, and includes an optical element along with appropriate local electronics.

[0041] Thus, various implementations of the camera component 18 of this implementation have two mechanical degrees of freedom: pan (look left / right) and tilt (look up / down). In use, the camera component 18 has pan and tilt functions that are powered and controlled by electronics and actuators within the handle 40. In various implementations, the handle 40 further comprises a camera clasp 72 and button 70 configured to mate with the latch 56, as shown in further detail in Figures 5A-D.

[0042] The tilt function, as will be further described with respect to Figures 24A-D, relates to tilting the optical portion 42C so that the camera 48 is oriented to a desired work location. This tilting may be accomplished via a cable operatively coupled to the flexible portion 42B or the optical portion 42C, such that actuation of the cable tilts the optical portion 42C by bending the flexible portion 42B, for example, as shown in Figures 4C and 7A-B. Alternatively, this tilting function may be accomplished by any other known mechanism or method for bending the tube 42 at the flexible portion 42B.

[0043] 5A-7B, camera component 18 houses several internal electrical and mechanical components that enable operation and manipulation of camera 48, tube 42, and other operational components. In various implementations, camera component 18 includes a presence sensing system configured to detect insertion of component 18 into lumen 62. Additionally, to prevent damage, in certain embodiments, camera component 18 is configured to provide a "mechanical lockout" such that camera component 18 cannot be removed unless tube 42 is in a "straight" (tilt=0 degrees) configuration.

[0044] 5A-B show implementations of device 10 where camera component 18 has been inserted into lumen 62 of body 12. In these implementations, following placement of seals 63A, 63B within sealing portion 62B (as described with respect to FIGS. 3A-F), camera component 18 may be inserted into lumen 62 and latch 56 engaged.

[0045] As shown in FIG. 5C, in certain implementations, the camera component 18 includes a light guide post 74, an actuation connector 76, and / or a coaxial connector 78. In various implementations, the light guide post 74 facilitates the transfer of light from an external light generator to an optical fiber within the camera. The actuation connector 76 can provide power and communication functions, such as robot and camera power and communication functions described below with respect to FIGS. 26-29D. In various implementations, the coaxial connector 78 can provide additional functions, such as the transmission of video signals described herein with respect to FIGS. 7C and 26A. In various implementations, a fiber optic cable 80 is in operational and optical communication with the light guide post and extends distally into the lumen (not shown). Additionally, as further described with respect to FIGS. 5E-F, a communication line 82 extends with the fiber optic cable 80 in these implementations.

[0046] The implementation of Figures 5C-E shows one implementation of the camera component 18 with a mechanical lockout. In certain of these implementations, pressing a handle button 70 downward can be actuated to reorient the tube 42 to a straight orientation to allow removal of the camera component when tilt = 0 degrees. In this implementation, the camera clasp 72 is disposed on a clasp member 84, which may also include a button 70, pressing the button 70 causes the clasp member to pivot about a clasp pivot 86 that is rotationally coupled to the camera housing (not shown), such that a plunger 88 disposed adjacent the clasp member can be urged inwardly in response to actuation of the button 70.

[0047] In various implementations, end 88A of plunger 88 aligns with slot 90A in lead screw nut 90, which is linearly translated in response to camera tilt, as described in more detail below. In these implementations, alignment of slot 90A and plunger 88 occurs only when camera tube 42 is in a "straight" orientation. In these implementations, the plunger is also fixedly attached to trigger arm 92, such that if the arm is removed - even slightly - the arm will trigger limit switch 94, initiating a "go-straight" subroutine, thereby straightening the camera. It will be appreciated that the length of plunger 88 is such that in these implementations it cannot enter slot 90A when the camera is tilted (described below with respect to FIGS. 5E-6D), so that catch 72 will not fall off the robot if slot 90A is not aligned.

[0048] It will be appreciated that in certain implementations, the "get straight" subroutine is triggered in response to actuation of the button 70 regardless of whether the plunger end 88A enters the slot 90A. In these implementations, as best shown in FIG. 5E, the space between the non-slotted portion of the lead screw nut 90 (generally shown at 91) and the plunger end 88A is less than the distance of overlap between the catch 72A and the latch edge 56A (shown in FIG. 5B), thereby preventing the catch from disengaging. In these implementations, the distance between the trigger arm 92 and the limit switch 94 is also less than the distance between the non-slotted portion of the lead screw nut 90 (generally shown at 91) and the space between the plunger end 88A such that the limit switch 94 is actuated in response to actuation of the button 70 regardless of whether the plunger end 88A enters the slot 90A or not. In a particular implementation, an actuator spring 96 is operatively coupled to the plunger 88 to urge the plunger outward, thereby maintaining tension on the clasp 72 and button 70 when not in use.

[0049] As best shown in the implementations of FIGS. 5E-G, the camera tilt is driven by a tilt actuator 100 disposed within the handle 40. The tilt actuator 100 may be a 6 mm Maxon BLDC motor, or other such actuator, in these implementations. In these implementations, the tilt actuator 100 is capable of inducing translational motion in the lead screw nut 90. In these implementations, the tilt actuator 100 drives a planetary gear head and spur gear 102 coupled to a drive gear 104. In these implementations, the drive gear 104 is in rotational communication with a lead screw 106. In these implementations, rotation of the lead screw 106 within the lead screw nut 90 induces translational motion of the lead screw nut 90 and possibly a cable coupler assembly 108 fixedly attached to the outside of the lead screw nut 90. It will be understood that in these implementations, the lead screw nut 90 is rotationally coupled to but linearly decoupled from the pan shaft 112 such that rotation of the lead screw 106 causes linear translation of the lead screw nut 90. In various implementations, an actuation cable (best shown at 120A, 120B in FIGS. 5F-G ) is fixedly coupled to the coupler assembly 108 such that translation of the lead screw nut 90 and cable coupler assembly 108 causes tilt actuation.

[0050] As shown in Figures 5F-G, in various implementations, the tilt function can be achieved via the following structure. In this embodiment, the flexible portion 42B includes an elbow joint 124 and a pair of tilt cables 120A, 120B, where each of the tilt cables 120A, 120B is operably coupled at its distal end to the optical portion 42C. In various implementations, as shown, the cables 120A, 120B include Teflon sheathing 120C, 120D. In these implementations, the sheathing can remain stationary while the cables 120A, 120B disposed therein can slide relative to the sheathing as generally described herein.

[0051] The first tilt cable 120A is an active tilt cable 120A that is coupled on one side of the optic portion 42C with respect to the joint 124 as shown, such that urging the cable 120A proximally causes the optic portion 42C to tilt up on that side, as shown in FIGS. 5F-G and designated by reference arrow C. The second tilt cable 120B is a passive tilt cable 120B that is coupled on the other side of the optic portion 42C with respect to the joint 124 and the first tilt cable 120A. The second tilt cable 120B is not actuated by the user. Instead, the second tilt cable 120B is maintained at a predetermined level of tension by a passive spring 122 such that the cable 120B is continuously urged in the proximal direction, thereby urging the optic portion 42C into a straight configuration as shown in FIG. 4B.

[0052] 5F-G, the default position of the optic portion 42C is the straight configuration. That is, when no force is applied to the active tilt cable 120A by the cable coupler assembly 108, the tensioned passive tilt cable 120B causes the optic portion 42C to be in the straight configuration. The user can cause proximal movement of the cable coupler assembly 108 through the lead screw nut, as described above, causing the active tilt cable 120A to be urged proximally to tilt the optic portion 42C. In response to other activities, such as pressing the button 70 down, the cable 120A can be caused to allow the portion 42C to return to the straight configuration by the spring 122 and the return cable 120B. The straight configuration of FIG. 4B facilitates placement of the camera component 18 within the lumen 62, and further facilitates removal of the camera component 18 from the lumen 62 as well. In use, a user can urge active cable 120A proximally to tilt optical portion 42C as desired / needed. In alternative embodiments, the system may include an actuation button (or other type of user interface) (not shown) that may be configured to actuate the system to move into a straight configuration, thereby facilitating easy insertion and / or removal.

[0053] The panning function is achieved through the rotation of the tube 42 about its longitudinal axis, as indicated by arrow D in Figs. 5G-F. The rigid portion 42A, the flexible portion 42B, and the optical portion 42C (not shown) of the tube are coupled together such that the portions 42A, 42B, 42C cannot rotate relative to one another. In other words, the portions 42A, 42B, 42C rotate together as a single unit. The tube 42 is, however, rotatably coupled to the handle 40 such that the tube 42 can rotate as indicated by arrow D relative to the handle 40. As a result, the panning function is provided by placing the optical portion 42C in a tilted configuration (e.g., the configuration of Fig. 5F) and rotating the tube 42 relative to the handle 40. This results in the optical components within the optical portion 42C being rotated about the tube 42 axis such that images can potentially be captured up to 360 degrees around the camera component 18. In certain implementations, the pan is limited to a smaller range, e.g., 100 degrees, by, for example, a hard stop 133, as shown in Figures 6A-B. In these implementations, the hard stop 33 rotates with the tube 42 and tube head 137 (or lead screw 106), while the tube housing 135 (or lead screw nut 90) maintains a fixed position, thereby limiting the range of motion of the tube 42, since the hard stop 133 cannot rotate through the tube housing 135. A hard stop opening 133A may also be provided in the tube head 137, as shown in Figure 6A. It is understood that in certain implementations, the limitation of the pan range is made due to a service loop of wire.

[0054] Thus, in the implementations of FIGS. 5F-6E, the pan function is performed by a pan actuator 130 disposed within the handle 40, best shown in FIG. 6A. The pan actuator 130, in these implementations, may be a 6 mm Maxon BLDC motor, or other such actuator. In these implementations, the pan actuator 130 is capable of inducing rotational motion within the tube 42. In these implementations, the pan actuator 130 drives a planetary gear head and spur gear 132 coupled to a drive gear 134. In these implementations, the drive gear 134 is in rotational communication with the pan shaft 112, which in turn is in rotational communication with the tube 42. It will be appreciated that in these implementations, the pan shaft 112 is rotationally coupled to the tube 42 such that rotation of the pan shaft 112 causes rotation of the entire tube 42, including the optical portion 42C, thereby providing the pan function. 6B-D show further implementations of the internal components of the camera handle 40, showing the pan actuator 130 and tilt actuator 100 disposed within the handle housing (not shown).

[0055] In these implementations, the pan assembly (generally 128) includes a ground slot 136 (which does not rotate) and a pan shaft slot 138 (which rotates), both configured so that wires (not shown) can safely pass through the slots 136, 138 and not be damaged during panning operation.

[0056] For example, as shown in FIGURE 6E, image sensor power / communication lines 82 and fiber optic illumination cable 80 are routed onto support 140 and pass through slots 136, 138 in the to enter camera tube 42 and extend to lens 48. At least one handle stiffness-flex PCB component, or "PCB" 142 is also provided to control various camera handle functions such as tilt and pan. It will be appreciated that in certain implementations a third degree of freedom can be achieved by digital (software) based zoom.

[0057] 7A and 7B show various internal views of the flexible portion 42B and the distal camera component.

[0058] The implementation of FIG. 7A includes a camera lens 48 that includes a stack of lenses 48A configured to optimize, among other parameters, the field of view (e.g., approximately 90 degrees) and the depth of field (approximately 1″ to 6″ focusing range). A plurality of fiber optic lights 160 are also disposed within a lens housing 162. As shown in FIGS. 7A-B, in various implementations, these optical fibers 160A, 160B, 160C may be disposed on opposite sides of the lens 48 (FIG. 7B) or radially around and / or “below” the lens 48 (FIG. 7A). These optical fibers 160A, 160B, 160C are in optical communication with cables 80A, 80B or fiber optic cables extending downward from the handle, for example as described above with respect to FIG. 6F.

[0059] In the implementations of Figures 7A-B, an image sensor 164 (e.g., an OmniVision 22720 IC, capable of 1080p @ 30fps) is positioned behind the lens stack 48A on a flex tape 166. In these implementations, the image sensor 164 or sensor output data in MIPI format through the flex tape 166 is in turn threaded through the flexible portion 42B. The flex tape 166 terminates at an end point 166A to a rigid PCB 168 at the distal end of the camera tube (not shown). It is understood that the flexible tube portion 42B in the implementation of Figure 7A includes multiple link members 170A, 170B, 170C as previously described, although other implementations are possible.

[0060] In various embodiments, as generally shown in Figure 7C, the sensor image signal (box 170) from flex tape 166 is converted within the camera (box 171) from MIPI to LVDS by an FPGA (box 172) on PCB 168. In an exemplary implementation, this LVDS signal is then transmitted through the internal camera harness, through a connector on the camera handle, through the 5' camera pigtail, through the connector pair, through the 20' harness, through a panel mount connector on the Surgeon Console, through the Surgeon Console internal harness, to a panel mount connector on the CCU (Camera Control Unit - box 173), through the internal CCU harness, and to the daughter card.

[0061] In the implementation of FIG. 7C, the CCU (box 173) converts the LVDS signal to parallel data (boxes 174 and 175) and then to an HDMI output. The HDMI output is delivered to the Surgeon Console Computer (box 176) and to an on-board video processing card (box 177). In various implementations, the video processing card (box 177) mixes the camera feed with a GUI overlay (box 178) so that the mixed signal can be passed to the main monitor (box 179) on the Surgeon Console (box 176) where it can be viewed. This signal is also projected onto an HDMI output on the Surgeon Console connector panel where it is sent to an auxiliary monitor. It is understood that there are many different signaling protocols that can be used. In one example, the rigid PCB 168 at the distal end of the rigid tube 42 can instead convert the MIPI data to serial data and transmit the serialized signal back along the coaxial cable to the CCU. In another example, the video processing card (box 177) and GUI overlay (box 178) may be omitted and the video signal may be sent directly from the CCU to the main display. In a further example, the video signal may be mirrored from the main display (box 179) instead of (or in addition to) the Surgeon Console connector panel.

[0062] Figures 8A-G and 9A-D, according to one embodiment, show the internal components of body 12, which in these figures is shown without its casing 20. Figures 9B-C show the right half of body 12 and the internal components that control / actuate right arm 14A. It will be understood that the internal components in the left half (not shown) that operate / control / actuate left arm 14B are substantially identical to those shown and described herein, and the description provided below applies equally to these components as well.

[0063] 8A-G include the internal structure or support components of body 12. In one implementation, body 12 includes an internal top cap 200 and an internal support shell 202 as shown. These components maintain the structure of body 12 and provide structural support for the components disposed therein. FIG. 8D is a close-up view of the distal end of body 12.

[0064] In contrast to Figures 8A-D, Figures 9B-C show the internal actuation and control components of the body 12 with the internal structure or support components hidden to better show the internal actuation and control components that are configured to provide two degrees of freedom at the shoulder joints 26, 28.

[0065] In one embodiment, certain internal components shown in Figures 9A-C are configured to actuate rotation at the shoulder joints 26, 28 about an axis A that is parallel to the longitudinal axis of the body 12 (best seen in Figure 9A). This rotation about axis A is also referred to as "yaw" or "shoulder yaw." The rotation occurs, in one aspect, as follows: A yaw actuator 204, or in this implementation, a yaw motor assembly, is provided. The yaw motor assembly 204 is operably coupled to a yaw motor gear 206, which is coupled to a driven gear 208 such that rotation of the yaw motor gear 206 causes rotation of the driven gear 208. The driven gear 208 is fixedly coupled to a transmission shaft 210, which includes a transmission gear 212 at the opposite end of the shaft 210.

[0066] Transmission gear 212 is coupled to driven gear 214, which is fixedly coupled to shaft 216. A magnet holder 218, including a magnet, is also operably coupled to transmission gear 212. The holder 218 and magnet are operably coupled to a magnet encoder (not shown). It is understood that the magnet holder 218, 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 as or substantially similar to one or more of the absolute position sensors disclosed in U.S. Provisional Application No. 61,680,809, filed August 8, 2012, which is incorporated herein by reference in its entirety. Shaft 216 is fixedly coupled at its distal end to a rotatable pitch housing 220 (best shown in FIGS. 9A-B) such that rotation of driven gear 214 causes rotation of shaft 216, and thus, rotation of housing 220, about axis A as shown in FIGS. 8B and 9B (also shown as axis Z1 in FIG. 10).

[0067] According to one implementation, certain other internal components shown in FIG. 9C are configured to actuate rotation of the shoulder joints 26, 28 about an axis B perpendicular to the longitudinal axis of the body 12 (best shown in FIGS. 8C and 9C). This rotation about axis B is also referred to as "pitch" or "shoulder pitch." Rotation occurs in one embodiment as follows. A pitch actuator 230, or in this implementation, a pitch motor assembly 230, is provided. The pitch motor assembly 230 is operably coupled to a motor gear 232, which is coupled to a driven gear 234 such that rotation of the motor gear 232 causes rotation of the driven gear 234. The driven gear 234 is fixedly coupled to a transmission shaft 236, which includes a transmission gear 238 at the opposite end of the shaft 236. The transmission gear 238 is coupled to a driven gear 240, which is fixedly coupled to a shaft 242. A magnet holder 244 containing a magnet is also operably coupled to the driven gear 240. The holder 244 and magnet are operably coupled to a magnet encoder (not shown). As best shown in FIGS. 9B-C, a portion of the shaft 242 is disposed within the lumen 216A of the shaft 216 as described above and extends out the distal end of the shaft 216 into the housing 220. As best shown in FIG. 9C, the distal end of the shaft 242 is coupled to a rotation gear 244 which is a bevel gear 244. The rotation gear 244 is operably coupled to a link gear 246 which, according to one implementation, is also a bevel gear 246. Link gear 246 is operatively coupled to shoulder link 16A (described above) such that rotation of shaft 242 causes rotation of rotation gear 244, thereby causing rotation of link gear 246 and, in turn, causing rotation of link 16A about axis B, as best shown in FIG. 9D and also shown as axis Z2 in FIG. 10.

[0068] In this embodiment, these two axes of rotation are coupled. That is, if only rotation about axis A (pure yaw) is desired, then the "pitch drive train" (pitch motor 230 and all the coupled gears and components necessary to achieve rotation about axis B) must match the speed of the "yaw drive train" (yaw motor 204 and all the coupled gears and components necessary to achieve rotation about axis A) such that there is no relative angular displacement between pitch housing 220 and rotation gear 244. 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.

[0069] In one implementation shown in FIG. 9A, the body 12 includes a rigid-flex PCB 250 disposed therein. The PCB 250 is operatively coupled to and controls the motors 204, 230 and a magnet encoder (not shown). In one implementation, as shown in FIGS. 8F, 9A and elsewhere, the various actuators or motors described herein include at least one temperature sensor 248 disposed on a surface of the motor such that the temperature sensor 248 can collect temperature information from each actuator for transmission to a control unit, for example, by temperature-sensitive epoxy, as described below. In one embodiment, any motor described and shown herein may be a brush or brushless motor. Further, the motor may be, for example, a 6 mm, 8 mm, or 10 mm diameter motor. Alternatively, any known size that may be incorporated into a medical device may be used. In a further alternative, the actuator may be any known actuator used in a medical device to actuate a component's movement or action. Examples of motors that may be used in the motors described herein include an EC 10 BLDC + GP10A Planetary Gearhead, an EC 8 BLDC + GP8A Planetary Gearhead, or an EC 6 BLDC + GP6A Planetary Gearhead, all available from Maxon Motors, located in Fall River, Massachusetts. There are many ways to actuate these movements, such as using DC motors, AC motors, permanent magnet DC motors, brushless motors, pneumatics, cables to remote motors, hydraulics, etc.

[0070] As also described herein, each link (body, upper arm, and forearm) may include a printed circuit board (PCB) with embedded sensors, amplification, and control electronics. For example, in a particular implementation, identical PCBs 168, 250, 290, 320, 328 are used throughout, one each for the forearm and upper arm, and two PCBs in the body. Each PCB also includes a full 6-axis accelerometer-based inertial measurement unit and a temperature sensor that can be used to monitor the temperature of the motor. Each of the joints may also include either or both absolute position sensors or incremental position sensors. In a particular implementation, some joints include both absolute position sensors (magnet encoders) and incremental sensors (hall effect). Joints 5 & 6 include only incremental sensors. These sensors are used for motor control. The joints may include many other types of sensors. A more detailed description of one possible method is included here.

[0071] FIG. 10 illustrates the motion of the robot. As shown with respect to FIG. 10, shoulder joint 26 connects upper arm 14A to body 12. Shoulder yaw (θ1 for Z1), shoulder pitch (θ2 for Z2), and shoulder roll (θ3 for Z3) may or may not have three axes that intersect significantly to form a ball-like joint. Elbow joint 14C (θ4 for Z4) connects upper arm 14A to forearm 14B. Then the tool can roll (θ5 for Z5). Finally, the tool itself (or end effector) has a motion that can be used to open and close the tool. The right arm 14 of this design is a mirror image of the left 16. FIGS. 11A-14C show the internal components of the right arm 14 according to one embodiment. It is understood that the internal components in the left arm 16 are substantially identical to those shown and described herein, and that the description provided below applies equally to these components as well.

[0072] Figures 11A-F and 12A-D show the internal components of the right upper arm 14A, according to one embodiment, which is shown in Figures 11A-E and 12A-D without its housing 252. More specifically, these figures show the right arm 14A and the internal components therein. Figures 12A-D show the internal components of the right upper arm 14A, including actuators, drive components, and electronics, hiding the internal structure or support components to better show the internal components. In contrast to Figures 12A-D, Figures 11A-F show both the internal actuators, drive, and electronics components, but also the support components or internal structure of the right upper arm 14A.

[0073] In one embodiment, certain internal components shown in FIGS. 11A-F and 12A-D are configured to actuate rotation in the shoulder link 26 about Z3 as θ3 parallel to the longitudinal axis of the right upper arm 14A (best shown in FIG. 10). This rotation θ3 is also referred to as "shoulder roll." The rotation occurs in one aspect as follows: An actuator 260, or in this implementation, a motor assembly 260, is provided. The motor assembly 260 is operably coupled to a motor gear 262. The motor gear 262 is supported by a bearing pair 264. The motor gear 262 is coupled to a driven gear 266 such that rotation of the motor gear 262 causes rotation of the driven gear 266. The driven gear 266 is fixedly coupled to the shoulder link (not shown) such that rotation of the driven gear 266 causes rotation of the upper arm 14A about axis Z3 as shown in FIG. 10. Driven gear 266 is supported by bearing pair 268. A magnet holder 270, which contains a magnet, is also operably coupled to driven gear 266. The holder 270 and magnet are operably coupled to a magnet encoder as previously described.

[0074] Rotation of shoulder link 26 about axis Z3 rotates right upper arm 14A (and thus forearm 14B) relative to body 12. According to one embodiment, this rotation adds an additional degree of freedom not provided in previous two-arm surgical devices.

[0075] According to one implementation, certain internal components shown in FIGS. 11A-12D are configured to actuate rotation in the elbow link 14C about axis Z4 perpendicular to the longitudinal axis of the right upper arm 14A (best shown in FIG. 3C). This rotation about axis Z4 is also referred to as "elbow yaw." The rotation occurs in one aspect as follows. An actuator 272, or in this implementation, a motor assembly 272, is provided. The motor assembly 272 is operably coupled to a motor gear 274, which in this embodiment is a beveled gear. The motor gear 274 is supported by bearings 276. The motor gear 274 is coupled to a driven gear 278 such that rotation of the motor gear 274 causes rotation of the driven gear 278. The driven gear 278 is fixedly coupled to the elbow link 14C such that rotation of the driven gear 278 causes rotation of the elbow link 14C about axis Z4 as shown in FIG. The driven gear 278 is supported by a bearing pair 280. A magnet holder containing a magnet is also operably coupled to the elbow link 14C. The holder and magnet are operably coupled to a magnet encoder 282. According to one embodiment, the further coupling of the link gear 284 and the elbow link 14C may provide certain advantages including further external reduction (as the gear 284 has fewer gear teeth than the elbow link 14C) and shortening of the upper arm 14A (thereby improving the joint range of motion). The gear 284 is coupled to another gear that includes the magnetic holder 282 thereon. Additionally, this other gear (not shown) includes a torsion spring attached thereto that functions as an anti-reaction device.

[0076] As shown in FIGS. 12A-12B, the upper arm 14A may include at least one rigid-flex PCB 290 disposed therein. In one embodiment, the PCB 290 is operatively coupled to and controls the motors 260, 272 and the magnet encoder (coupled to the holder 270). In these implementations, a flex tape 292 may be used to communicate with the PCB 290, the motors 260, 272 and the magnet encoder, as will be understood by those skilled in the art. According to another embodiment, at least one coupling component is associated with the upper arm 14A. More specifically, in this implementation, the power / communication lines and the cautery power lines enter through a port (not shown) at the proximal end of the upper arm 14A and exit through a port (not shown) at the distal end, as previously described.

[0077] As described below, each of the forearms 14B, 16B also includes two electrically isolated cautery circuits that allow for both bipolar and monopolar cautery end effectors. Certain embodiments are configured to allow for easy removal and replacement of the end effectors ("quick-change" configuration). Further embodiments include sealing elements that help prevent fluids from entering the mechanism.

[0078] 13A-G show various embodiments of the right forearm 14B. FIG. 13B-G show the forearm 14B without its housing 254. Various implementations disclosed and shown herein include actuators, drive components, and electronics that can be used to achieve both the tool roll and tool drive (open / close motion), as described in more detail below. As described below, the forearm 14B also includes two electrically isolated cautery circuits, allowing for both bipolar and monopolar cautery end effectors. Certain embodiments are configured to allow for easy removal and replacement of the end effector 300 ("quick change" configuration). Further embodiments include sealing elements that help prevent fluids from entering the mechanism. As shown in FIG. 13B, the power and communication lumen 303 and the cautery lumen 305 can be used to allow wires (not shown) to be routed from the body 12 to the forearm.

[0079] According to one implementation, certain internal components shown in Figures 13A-G and 14A-F are configured to actuate rotation in the end effector 300 about an axis Z5 that is parallel to the longitudinal axis of the right forearm 14B (best shown in Figure 10). This rotation about axis Z5 is also referred to as "tool roll."

[0080] Rotation, in one aspect, occurs as follows: As best shown in FIG. 14B, an actuator 301, which in this implementation is a motor assembly 301, is provided. The motor assembly 301 is operably coupled to a motor gear 302, which in this embodiment is a spur gear. The motor gear 302 is coupled to a driven gear 304 such that rotation of the motor gear 302 causes rotation of the driven gear 304. The driven gear 304 is fixedly coupled to a roll hub 306, which is supported by bearings 308. The roll hub 306 is fixedly coupled to a tool base interface 310, which has external threads 310A that are threadably coupled to the end effector 300 and a tool lumen 311. Thus, rotation of the driven gear 304 causes rotation of the roll hub 306, which causes rotation of the tool base interface 310, causing rotation of the end effector 300 about axis Z5, as shown in FIG. 10.

[0081] In one embodiment, certain internal components shown in Figures 14A and 14C are configured to actuate the end effector to open and close. Rotation of the end effector arm such that the end effector opens and closes is also referred to as the "tool drive." Actuation occurs in one aspect as follows: An actuator 312, which in this implementation is a motor assembly 312, is provided. The motor assembly 312 is operably coupled to a motor gear 314, which in this embodiment is a spur gear. The motor gear 314 is coupled to a driven gear 316 such that rotation of the motor gear 314 causes rotation of the driven gear 316. The driven gear 316 is fixedly coupled to a female tool spline 318, which is supported by a bearing pair 320. The female tool spline 318 is configured to interface with a male tool spline feature on the end effector to open / close the tool as directed.

[0082] According to one implementation, the end effector 300 can be quickly and easily coupled and decoupled from the forearm 14B in the following manner: With both the roll and drive shafts fixed or held in place, the end effector 300 can be rotated, thereby coupling or decoupling the threads 310A. That is, when the end effector 300 is rotated in one direction, the end effector 300 is coupled to the forearm 14B, and when rotated in the other direction, the end effector 300 is decoupled from the forearm 14B.

[0083] Various implementations of the system 10 are also designed to deliver energy to the end effector 300 to cut and coagulate tissue during a surgical procedure. This may be referred to as a cautery device and can be supplied in many electrical forms, as well as thermal, ultrasonic, and RF energy, all of which are contemplated for this robot. An electrosurgical cautery device is described here as an example.

[0084] According to one embodiment, as shown in FIGS. 14D-F, forearm 14B includes two independent cautery channels (referred to herein as "Channel A" and "Channel B") that allow for the use of either bipolar or monopolar cautery end effectors with forearm 14B.

[0085] In these implementations, the channel A components are placed anteriorly in the forearm 14B as shown. The PCB 328 is electrically isolated from lead A 342 and / or lead B 344, the cautery power lines which are coupled to an external power source (e.g., as described below). The PCB 328 is further electrically coupled to at least one flex tape 330A, 330B which is in electronic communication with the motors 301, 312. Thus, energizing lead A in the cautery line 342 energizes channel A in the bipolar cautery end effector 300.

[0086] As shown in Figures 14E-F, in certain implementations, the end effector 300 is positioned within the forearm 14B in the rotor assemblies 343A, 343B such that the rotor contacts 341A, 341B and the stator contacts or hoops 345A, 345B are in electrical communication with the tool contacts 330, 332. In these implementations, the cautery wire enters through a lumen 305 in the backplate of the forearm (shown in Figure 13A). For bipolar forearms (using a pair of conductors), conductor A is soldered to tab A 342 on stator hoop A. Conductor B is soldered to tab B 344 on stator hoop 345B. For monopolar forearms, since there is only one conductor, conductor A 342 is soldered to tab A 342 on stator hoop 345A and the other stator hoop 345B has no connection.

[0087] In various implementations, the stator assembly 347 includes two stator hoops 345A, 345B. The assembly 347 is fixed and stationary to the forearm 14B. The rotor assembly 343 includes two rotor rings 341A, 341B. The rotor 343 is concentrically held in the stator 347 through a bearing assembly (not shown) and rotates freely within the stator 347. The rotor rings 341A, 341B each include a pair of leaf spring contacts (best shown at 349A, 349B in FIG. 14F) that maintain electrical contact to the stator rings 345A, 345B in the context of a slip ring.

[0088] In these implementations, rotor rings 341A, 341B extend into the rotor assembly and end effector including a corresponding pair of tool contacts 330, 332 disposed toward the proximal end. These tool contacts 330, 332 may also include leaf spring projections.

[0089] In use, when the end effector 300 is properly placed within the rotor 343, the leaf spring protrusions of the end effector tool contacts 330, 332 press against the inner circumference of the rotor rings 341A, 341B to form an electrical connection. Additionally, the rotor may be provided with "arrow-shaped" protrusions along its inner surface to create leads therein and thus self-align when the tool is placed, while the end effector may be provided with matching cutouts. In these implementations, when the end effector is inserted into the protrusions, the cutouts mate to form a torque transfer mechanism between the end effector and the rotor assembly. In this way, when the rotor spins via the roll motor, the end effector spins with it. Thus, there is no relative motion between the rotor assembly and the end effector 300.

[0090] In one implementation, as shown in FIGS. 15A-B, the forearm 14B may be equipped with an insertable bipolar cautery tool (300A in FIG. 15B) or an insertable monopolar cautery rule (300B in FIG. 15A) designed for single or multiple use.

[0091] In these implementations, the end effectors 300A, 300B include at least one fluid sealing interface that helps prevent fluid from entering the forearm 14B. One such feature, according to one embodiment, is a single piece housing 322. As best shown in Figures 15A-B, the housing 322 may include an O-ring 324 disposed within a groove defined within the housing 322.

[0092] In the particular embodiment of the bipolar tool 300A of FIG. 15A, there are two bronze contacts 330, 332 at the proximal end of the tool 300A. When inserted, these contacts 330, 332 interface with the wiper, which creates an electrical connection between the robot and the tool 300A. As previously described, for example in U.S. application Ser. No. 14 / 212,686 (incorporated by reference in its entirety), the wiper is a tensioned component supported at one end by a mechanical strut. An insulating insert is placed between the wiper and the mechanical strut. At its free end, the wiper is supported by a preloader. Based on this structure, the wiper is loaded or urged (like a leaf spring) against the tool base interface and is therefore electrically coupled to the tool base interface. The tool base interface is mechanically coupled to the end effector 28A and electrically coupled to the channel B of that end effector. In these implementations, the wiper and contacts 330, 332 are designed such that relative tool motion (tool roll or end effector roll) can occur while maintaining electrical contact between the wiper and contact. These two independent contacts 330, 332 are then each connected to each of the jaws, for example by a solid copper wire 334. The tools remain electrically isolated from each other using several techniques, including a non-conductive divider 336. Electrical energy is then delivered to the tissue maintained between the two jaws 338A, 338B. In this implementation, a jaw guide 340 is also provided.

[0093] In the particular embodiment of the bipolar tool 300B of FIG. 15B, there are two bronze contacts 330, 332 at the proximal end of the tool 300B. When inserted, these contacts 330, 332 interface with a wiper that creates an electrical connection between the robot and the tool 300B. Monopolar energy from the generator (described with respect to FIGS. 16A-B) flows to the tool 300B through one electrical connection such that potential energy is present at the tool tip 340. The energy then returns to the generator through the surgical target via the return pad. The cable may include a connector to simplify the use and operation of the robot. This figure shows one additional feature in that the outgoing energy is transmitted through a shielded cable, and the shield may or may not be connected to the return path. Having a shield connected to the return pad can be a safety feature in that it prevents energy from leaking to the patient. Here, any leaked energy will most likely be collected by the shield and returned safely to the generator.

[0094] Various implementations of the system include a monopolar cautery line 350 (shown in FIG. 16A ) and / or a bipolar cautery power line 352 (shown in FIG. 16B ) in electrical communication with at least one external cautery generator 354 and the respective monopolar 300B and bipolar 300B end effectors. In the implementation of FIG. 16A , the monopolar cautery line 352 is a single coaxial cable 352 that is also in electrical communication with a return pad 356 for placement elsewhere on the patient's body. In these implementations, a shield 358A may be provided about the central conductor 358. In various implementations, the shield 358A may extend the length of the central conductor 358 from the generator 354 into the body 12 to terminate distally (shown at 358B) at the forearm 14B. In certain implementations, a shield tie 360 ​​is provided that electrically ties the shield 358 to the return pad 356 and / or the generator 354 to prevent radiation from escaping, as will be appreciated by those skilled in the art.

[0095] 16B implementation, bipolar power line 352 provides electrical communication between bipolar cautery lines 352A, 352B and an external cautery generator 354. In various implementations, monopolar 350 and / or bipolar lines 352A, 352B can be connected directly to body 12 or are connected by "pigtails" 360A, 360B, 360C as previously described.

[0096] As shown in FIG. 17A, another fluid seal may be provided in the form of a flexible membrane 400 (or "sleeve") disposed on the outside of the arm 14, 16, according to another embodiment. As shown in FIG. 17B, in a particular implementation, the membrane 400 is attached to the forearm housing 14B, 16B at a distal end 402. This membrane 400 serves to provide a fluid seal for the internal components of the arm 14, 16 against any external fluids. In one implementation, the seal is maintained whether or not the end effector 300 is coupled to the forearm 14B, 16B.

[0097] It is understood that a large or "bulky" membrane may interfere with operation of the camera component 18, as previously discussed, particularly for membranes 400 that include a belt. In various implementations, the presently disclosed membrane 400 addresses camera interference. As discussed herein with respect to Figures 18A-C through 22C, in certain implementations, the membrane 400 may be permanent, while in alternative implementations, the membrane 400 may be disposable, as shown in Figures 23A-C. Alternatively, the membrane 400 may be replaced with a metal bellows, as previously discussed.

[0098] In various implementations, the sleeve 400 may be fabricated by cutting a pattern from a thin film extrusion such that a 2D pattern is cut out of a flat piece of plastic, and then the sleeve is formed by gluing the 2D pieces together, for example, by ultrasonic welding. Alternatively, the sleeves may be made using heat bonding or adhesives. In a further alternative, the sleeves may be made using a molding process, as previously described. This may include dip molding, injection molding, or other known molding options. It is understood that permanent sleeves may be made from a thicker plastic or other material than disposable sleeves to increase durability.

[0099] As shown in Figures 18A-C, in certain implementations, a permanent membrane 400 is placed on each of the arms 14, 16. In these implementations, the membrane includes a rigid termination component 404 at a distal end 402. In certain implementations, as shown in Figure 18C, the termination component 404 may use an internal fixed seal 404A that clips to hold it in place and seal with the forearm housing 14B, 16B. In an alternative implementation, the membrane 400 may be bonded directly to the forearm housing 14B, 16B at the distal end 402 using a UV-cured biocompatible epoxy. And in a further implementation, the distal end 402 may be attached to the forearm housing using a mechanical capture between the forearm housing and the forearm chassis substructure (shown at the proximal end with respect to Figures 19A-C).

[0100] Returning to the implementations of Figures 19A-C, at the proximal end 406, an O-ring assembly 408 may be used to "pin" the membrane 400 into a corresponding groove 410 in the body 12. As shown in Figure 19C, in these implementations, an outer body housing 412 may be provided over the attached membrane 400. In an alternative implementation, the membrane 400 may be directly bonded at the proximal end 406 using a UV-cured biocompatible epoxy.

[0101] In further implementations, as shown in Figures 20A-20B, a flex-mesh component 414 can be used in conjunction with a membrane (not shown) to prevent "sleeve shear" in the highly articulated elbow joint 14C. In these implementations, the mesh 414 ensures that the sleeve does not collapse into the pinch zone created by arm joints such as the elbow 14C and shoulder (generally 26, 28).

[0102] 21A-C, a semi-rigid sliding guide 420 can be used to prevent sleeve shear in the permanent membrane 400. In these implementations, the sliding guide 420 extends the length of the membrane (not shown) to prevent the membrane from entering the space between the joints of the arms (discussed above). In various implementations, the semi-rigid guide 420 can be made of thin Teflon, Delrin, or other flexible low-friction polymers.

[0103] In a particular implementation, as shown in Figures 21A-21C, a semi-rigid guide 420 is fixed at 421 in one location, either on the forearm 14B as shown, or on the upper arm (not shown), to allow the guide to move linearly relative to the arm if necessary. In the implementation of Figures 21A-21C, the semi-rigid guide 420 is disposed within a guide bushing 422 at the opposite end (here, the proximal end). It will be appreciated that this allows the guide to slide as the robot engages, creating a moving barrier to prevent the sleeve from entering the pinch zone.

[0104] In the implementation of Figures 22A-C, the sleeve shape can be optimized in a number of ways. Optimization can be achieved by accounting for the required change in sleeve length when the arm goes from a straight to a bent configuration. Several different implementations can be used. As shown in the implementation of Figures 22A-B, a sleeve 400 can be fashioned such that excess material - needed when the arm is bent - is stored / managed when the arm is straight. Figure 22A shows a sleeve 400 with an "outer box" pleat 430. Figure 22B shows an "inner box" pleat 432. Figure 22C shows a "bent" sleeve 434 configuration. Alternatively, as shown in Figure 22C, by fashioning the sleeve with a bent configuration 434 such that the bend corresponds to a robot elbow bent to the middle of its range of motion, the sleeve can be improved to reduce the overall parasite torque, which is the torque applied by the sleeve to the robot during actuation. Additionally, these implementations can provide an improved "fit," meaning that they have reduced bunching and / or stretching (e.g., as shown in FIG. 23B), and may be easier to clean. Each of these optimizations can also be applied to disposable sleeves.

[0105] 23A-C show various implementations of the disposable sleeve 436. In various implementations, the disposable sleeve 436 must be easy to install and form a barrier against bioloads and fluids. In certain circumstances, the sleeve 436 may be attached using an incorporated O-ring that clips into an O-ring groove, as previously described. The sleeve 436 may also be attached using an incorporated adhesive strip 437 that attaches it to the device 10. As shown in FIG. 23B, excessive bunching 436A may occur if the sleeve is not properly sized or optimized. In various implementations, the adhesive strip 437 may be optimally rotated around the proximal termination portion (e.g., at the hip of a robot) to minimize material build-up in critical zones, such as where the camera exits the lumen.

[0106] In use, Figures 24A-D show insertion and manipulation of device 10 according to an exemplary implementation. As previously described and further illustrated with respect to Figures 27A-C, these steps may be accomplished while device 10 is visualized using a laparoscope 448 inserted into the abdominal cavity through a separate port, for example, on a console.

[0107] As shown in FIG. 24A, during insertion, the device 10 is initially maintained over the gel port 450, which allows the abdominal cavity to remain isolated while the gel port 450 seals around the irregularly shaped device 10. The device 10 is then inserted though the gel port 450, as shown in FIG. 24B. The elbows 14C, 16C can then bend to accommodate further insertion. The device 10 can then be inserted further until the arms 14, 16 are substantially within the abdominal cavity, as best shown in FIG. 24C. This then allows the device 10 to be rotated and moved to a desired position for the surgical procedure, as shown in FIG. 24D.

[0108] 25A-B show a gel port 450 according to one implementation. In the embodiment of FIG. 25A, the gel port 450 includes a first 452 and a second 454 opening, or "slit." In certain implementations, passage of the device 10 into the gel port 450 may cause the arms 14, 16 to splay, causing injury to the patient. In these implementations, the slits 452, 454 facilitate maintaining the device 10 in a vertical orientation. In certain of these implementations, the gel port 450 includes a pair of semi-rigid corrals 456A, 456B configured to urge the arms 14, 16 toward the center and prevent them from splaying during insertion.

[0109] As shown in FIG. 25C, in a particular implementation, the robotic device 10 is clamped (or otherwise coupled) to the distal end of a robotic support arm 470. The proximal end of the support arm 470 is clamped or otherwise coupled to a standard support strut on a surgical table. In this embodiment, the support arm 470 has six degrees of freedom and is manually released by a single knob. In use, a user can release the support arm 470 by loosening the knob, move the robotic device 10 to an appropriate position, and then tighten the knob, thereby stiffening the arm 470 and securing the robotic device 10 in place. One example of a commercially available support arm 470 is the Iron Intern™ manufactured by Automated Medical Products Corp.

[0110] In use, according to one embodiment shown in FIG. 26A, the system 500 can be operated in the following manner: A user, typically a surgeon, positions himself / herself at the surgeon console 502. As described in more detail below, the console 502 may include a visual display 510, a touch screen 514, and input components, such as a foot input device (also referred to as a "foot controller") 512 and a hand input device (also referred to as a "hand controller") 518. The user can operate the system 500 by manipulating the hand controller 518 with his / her hands, the foot controller 512 with his / her feet, and the touch screen (also referred to herein as a "graphical user interface" or "GUI") 514 with his / her hands, while viewing feedback from the camera 18 regarding the robot 10 positioned within the target cavity of the patient using the visual display 510. The console 502, in this embodiment, is coupled to the robot 10 and its components in three different ways. That is, the console 502 is directly coupled to the robot 10 itself via cable 502, which carries both power and communication between the console 502 and the robot 10. Additionally, the console 502 is also coupled to the camera 18 on the robot 10 via cable 504, which carries both power and communication between the console 502 and the camera 18. Additionally, the console 502 is also coupled to the cautery end effectors 300A, 300B on the robot 10 via cable 506, which carries power and communication between the console 502 and the cautery end effectors 300A, 300B (discussed above with respect to FIGS. 16A-B). In other implementations, the console 502 may be coupled to the robot 10 via other connection components and / or other robot components.

[0111] According to one embodiment, as best shown in FIGS. 26B-26E, the console 502 allows a user to control the robotic device 10 using hand controllers 518 and / or foot controllers 512. The hand controllers 518 and foot controllers 512 can be used to control the functions and arms and other components of the robotic device 10. In various implementations, the device 10 is controlled by using the hand controllers 518 and / or foot controllers 512 to move the device 10 in the same manner as the hand controllers 518 and / or foot controllers 512 are moved. More specifically, for example, the right hand controller 518 can be used to actuate the right arm of the robotic device 10 such that the movement of the hand controller 518 causes the right arm of the device 10 to replicate or simulate the same movement. For example, when the right hand controller 518 is extended outwardly away from the user, the right arm of the device 10 is actuated to extend outwardly away from the device 10 in the same direction. The left hand controller 518 and the left arm of the robotic device 10 can be operated in a similar manner. This virtual connection and interaction between the console 502 and the robotic device 10 may be referred to as teleoperation (or "tele-op") mode.

[0112] One implementation of an exemplary GUI 530 is shown in FIGS. 27A-C. In this implementation, various buttons 520 are provided that can be used to control the insertion, retraction, and operation of the device 10. More specifically, as shown in FIG. 27B of this embodiment, the user can select a particular operation page to be displayed on the GUI 530. If the user selects the "insert" button as shown in FIG. 27B, the result is an insert page as shown in FIG. 27A. Thus, the GUI 530 can provide the user with the ability to control the settings and functions of the robotic surgical system. In various implementations, the touch screen can include settings related to motion scaling, camera position, and indicators indicating the mode of the robot (cautery state, GUI state, etc.). Additionally, in the tele-op mode shown in FIG. 27A, the display 530 can show a real-time robot animation (generally 10) that displays the current configuration of the device 10, including the particular position of the arms of the device 10.

[0113] In certain embodiments, the virtual connection between the console 502 and the device 10 described above may be broken using a "clutch." In one particular implementation, the clutch may be activated using the button 520 on the GUI 530. Alternatively, the user may activate the clutch by pressing down on one of the foot pedals 512. The clutch is activated to break the virtual connection described above, thereby disconnecting the device 10 from the console 502 until the clutch is deactivated such that the device 10 and its components enter a "frozen" or "paused" state in which the components of the device 10 remain in the last position they were in when the clutch was activated. This clutch mechanism may be used for a number of different reasons. For example, the clutch mechanism may be used in an emergency pause situation where one or more components of the device 10 move toward a position where they may damage the patient's internal tissue and activation of the clutch prevents this. In another example, the clutch mechanism may be used to reset the virtual connection in a manner similar to how a computer mouse is lifted off a mouse pad to reset the connection between the mouse and the cursor on the computer screen. In other words, the clutch mechanism can be used to pause the device 10 while repositioning the hand controller to a more desirable position.

[0114] Certain system implementations disclosed or contemplated herein may include a hand controller (e.g., controller 518 described above) that features haptic feedback. That is, the hand controller (e.g., controller 518) includes a haptic input device that is configured with a motor operatively coupled to the hand controller such that the motor can be actuated to apply a force to the controller (e.g., controller 518) and thereby to the hand of a user holding the controller. This force applied to the user's hand, created by the haptic input device, is called haptic feedback and is intended to provide information to the user. For example, one use of haptic feedback is to indicate to a user a collision between robotic arms. In another example, haptic feedback is used to indicate to a user that a robotic device or one of its components (e.g., one of the arms) is approaching or has reached its reachable or tricky workspace.

[0115] 28A and 28B provide schematic illustrations of haptic feedback for a dexterous workspace of a robotic arm according to certain embodiments. More specifically, FIG. 28A represents a two-dimensional "slice" of the workspace 600 of one arm of a robotic device of any system embodiment herein. That is, the image is a representation of the working envelope 600 of the distal end of the robotic arm in two dimensions (x and y directions) to show all of the area 600 that the end effector of the robotic arm can reach if the arm can move in these two dimensions and the device body remains stationary. As shown in FIG. 28C, this workspace 602 can be extended into the third dimension (since the device 10 is capable of manipulation in the z direction as well).

[0116] In these implementations, as best shown in Figure 28A, the entire reachable workspace 600 is comprised of both an exterior portion 602 and an interior portion 604 of the workspace 600. The interior portion 604 is the operational workspace 604 of the robotic arm; that is, it is within the workspace 604 that the arm is functional and operates properly. The exterior portion 602 is the undesirable or non-optimal workspace 602 of the robotic arm.

[0117] In this particular implementation, as best shown in FIG. 28B, the system is configured to provide haptic feedback when the arm's end effector reaches an outer point of the workspace 600. More specifically, the system, or software components thereof, defines a haptic boundary 604 as the operational workspace 604. When the user moves the robot arm such that the end effector is inside the haptic boundary 604, the haptic input device applies no force to the hand controller, thereby indicating to the user that the robot arm is within the operational workspace 604. If the arm's end effector moves outside the haptic boundary 604 and into a non-optimal workspace 602, the haptic input device provides a force that urges the hand controller so that the robot arm moves back toward the closest point on the haptic boundary. In one implementation, the force applied at the hand controller is proportional to the distance from the haptic boundary, such that the user feels as if a virtual spring is pushing the user's hand (and thus the robot arm) back inside the boundary 604. Alternatively, it is understood that other models of force other than proportional distance can be created.

[0118] One possible use of the system is shown in FIG. 28D. In this implementation, the user can manipulate the hand controller 518 (shown in FIG. 226A-E) in a translational (box 620) and / or orientational (box 622) model through various steps. In a particular implementation, the controller has seven degrees of haptic feedback regarding the device's position in the surgical theater. Here, the translational model refers to x-, y-, and z-haptics, while the orientational model refers to roll, pitch, and yaw feedback, and manipulation of the trigger can account for the seventh degree. In a particular implementation, it may be desirable to lock certain of these feedback actions, such as orientation, while leaving others, such as translation, free to move relative to the console. This selective locking allows for gross re-positioning of the user's hand and controller without causing a corresponding movement of the device 10 in the surgical theater.

[0119] For example, a user can enter a tele-op mode (box 630) such that the tactile input devices (described in detail with respect to Figures 26A-27C) are aligned to their center (0,0,0) regardless of the device's position (box 632), while the orientation vector is aligned with the orientation of the device arms 14, 16 for yaw, pitch and roll (box 634).

[0120] In tele-op mode, these positions are set so that any movement of the controller directly corresponds to a movement of the device 10, and any force applied to the device 10 causes a corresponding force to be applied through the controller back to the user (boxes 632 and 634). However, in certain situations, the user may wish to reorient the hand controller relative to the console without causing a corresponding change in the device's movement.

[0121] When the system is paused (box 636), it is "locked" (boxes 638 and 640) so that the hand controller 518 is locked in place. No motions or commands are sent to the device 10 so that the device 10 maintains its position regardless of what the user does with the controller, meaning that the robot will not move even if the user overpowers the haptic lock and moves the hand controller.

[0122] In a further implementation, to move the controller independently, the user can engage the clutch (box 642) to release only the translation of the controller (box 644), while the device arms 14, 16 and controller maintain a fixed orientation (box 646). When the clutch 512 is released (box 648), the robot and hand controller are effectively reconnected, thereby once again fixing the translation and orientation between the controller and the device.

[0123] In these implementations, a workspace may be defined in which the device 10 is placed (Box 650). As described above, translational motion of the arm and controller is constrained by the workspace boundaries (Box 650), and orientation motion is aligned with the validation vector to ensure safety and precision (Box 652).

[0124] In certain implementations, the haptic lock may be interrupted by other features such as a "camera clutch" (box 654), where the two hand controllers can move together. In these implementations, the hand controller and / or device arm may need to be reoriented relative to the camera's position and / or orientation. That is, as will be appreciated, the camera has a particular frame of reference relative to the workspace and device 10, as the camera is capable of pan and tilt functions. In certain implementations, the console represents this frame of reference, and the translation and / or orientation of the arm and controller is fixed relative to the camera's orientation. When the camera is moved, the controller and / or arm may need to be reoriented relative to a second camera frame of reference, which may be specified by α. Thus, it is possible to urge the hand control in various directions (e.g., horizontally relative to the ground), but in situations where the device and camera are pointed straight down, cause a corresponding vertical movement of the robot arm. Other versions of this workflow are possible.

[0125] 29A-D show another possible use of haptic feedback in a force dimension workspace 600. In these implementations, the motions of the hand controllers - translation and / or orientation - have certain limits. In certain embodiments, as shown in FIGs. 29A-C, the haptic feedback system described above can be used to indicate to the user that the hand controllers have moved to the limits 602 of their motion. Here, another virtual spring can be implemented, or a virtual, or audible, or vibration alert can be provided.

[0126] 30A-B show an operator detection system 700, which may be operatively incorporated with any of the previous embodiments as part of a user input device or controller 701. In these implementations, the operator detection system 700 is configured to detect the presence of a user 702 to prevent unintended operation of the device 10. One implementation is to use a mechanical switch 704 that is engaged when the user 702 inserts his / her hand 702 in contact with the user input device 701 and / or applies pressure to the controller sides 706, 708. Various implementations may take the form of capacitive sensors, pressure sensors, and optical sensors, optical beam break sensors, or many other forms. In various alternative implementations, the operator detection system 700 may utilize voice-activated and / or visual systems.

[0127] Various embodiments are disclosed in further detail in the accompanying drawings, some of which include written descriptions thereof.

[0128] Moreover, according to certain embodiments, the device shown and described in the accompanying drawings is inserted into a patient using the following procedure.

[0129] First, an incision is made through the abdominal wall using standard techniques. In this embodiment, a 2.5'' long incision is required to create a suitable orifice for passage of the system.

[0130] A retractor is then placed into the incision. In this embodiment, the Applied Medical Alexis Wound Retractor (http: / / www.appliedmedical.com / Products / Alexis.aspx) is used. It consists of a thin walled (<.005'') flexible tubular membrane with a rigid ring shaped end cap. Once the distal ring is inserted into the patient, the proximal ring is rolled to take up excess slack in the tube and pull the wound open.

[0131] A port is then placed onto the retractor. In this embodiment, a modified Applied Medical Gel port (http: / / www.appliedmedical.com / Products / Gelport.aspx) is used. The port is capable of maintaining a pressure differential so that insufflation of the abdominal cavity can be achieved. The port allows an item (i.e., a robot) to be thrust through it while maintaining this pressure differential / gas seal. The port consists of a rigid ring that mechanically clamps against the outer rigid ring of the retractor. This clamp is capable of sealing against the ring, preserving the insufflation pressure. The port further consists of a set of circular gel membranes. Each membrane is approximately 0.75'' thick. Each membrane has a slit through it. The slit has a length of approximately 50% of the membrane diameter. When assembled, the slit in membrane 1 is rotated 90 degrees relative to the slit in membrane 2. Due to the gel / conforming properties of the membranes, a seal is maintained against oddly shaped objects as they pass through the slit in the membrane and into the abdominal cavity.

[0132] According to an alternative embodiment of the ports, a non-elastic lattice cord is embedded within the membrane to mitigate doming / blowout as a result of internal pressure. In a further alternative, a thin film of stiff / puncture resistant polymer was deposited at the interface of membranes 1 and 2. The purpose of this polymer is to prevent the robot end effector from puncturing membrane 2 after passing through the slit in membrane 1.

[0133] Once the retractors and gel ports are in place, the robot can be inserted into the patient.

[0134] A camera (either a robotic camera or an auxiliary camera as disclosed in the accompanying drawings) is then inserted through the auxiliary port to view the insertion.

[0135] The robot insert / extract mode is then activated from the GUI.

[0136] The robot and / or system then determines the path from its current state to its insertion pose (arm straight down) and the operator enters via this path to achieve the required pose.

[0137] The operator then inserts the robot into the patient (through the gel and retractor ports) until the elbow of the robot clears the inner surface of the abdominal wall.

[0138] The operator then steps through the insertion path until the elbows reach their endpoints (90 degrees). The operator then inserts the robot further into the patient until the shoulder joint clears the internal surface of the abdominal wall. The operator continues through the insertion path until the robot achieves its "ready" pose (arms in nominal operating position), at which point the surgical procedure can proceed.

[0139] Once the procedure is complete, follow the above steps in reverse to remove the device.

[0140] 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.

Claims

1. 1. A robotic surgical system comprising: a) a robotic surgical device, comprising: i) a device body; ii) first and second segmented arms operably coupled to a distal end of the device body via first and second shoulder joints; iii) a camera lumen defined within the device body, A) a socket defined in a proximal end of the device body; B) the robotic surgical device including a camera lumen including an elongated lumen portion defined along a length of the device body, the elongated lumen portion being in communication with the socket; b) a removable camera component, i) a controller body configured to be releasably placeable in the socket, the controller body including a camera actuator disposed within the controller body; ii) the removable camera component comprising: an elongated tube operably coupled to the controller body, the elongated tube configured and sized to be positionable through the elongated lumen portion, the elongated tube including an elongated portion including a lumen, an optical portion, and a flexible portion operably connecting the optical portion to a rigid portion such that the optical portion is moveable between a straight configuration and an angled configuration, at least a portion of the optical portion of the elongated tube extending distally from the lumen when the camera component is positioned through the elongated lumen portion.

2. The robotic surgical system of claim 1 , further comprising a tensioning component, the tensioning component comprising a spring.

3. The robotic surgical system of claim 1 , further comprising a seal structure disposed between the socket and the elongated lumen portion.

4. The robotic surgical system of claim 3 , wherein the seal structure is removable.

5. 2. The robotic surgical system of claim 1, wherein the elongated tube has a length such that when the camera component is positioned through the camera lumen, the optical portion extends distally from a distal lumen opening defined at a distal end of the camera lumen.

6. a first cable disposed through the elongated tube, the first cable coupled at a proximal end to a camera actuator and operably coupled at a distal end to a first side of the optical portion, the first cable movable in a proximal direction such that the rigid portion is biased toward the tilted configuration; The robotic surgical system of claim 1 , wherein the camera actuator is operatively configured to bias the first cable in a proximal direction such that the rigid portion is biased toward the angled configuration.

7. 7. The robotic surgical system of claim 6, further comprising a tensioning component, the camera actuator configured to be operable to release the first cable such that the tensioning component is configured to bias the rigid portion into the straight configuration.

8. The robotic surgical system of claim 1 , wherein the controller body includes a controller configured to operate the camera actuator.

9. The robotic surgical system of claim 1 , wherein the elongated tube is configured to be rotatable relative to the controller body.

10. 1. A robotic surgical system comprising: (a) a robotic surgical device, comprising: (i) a device body comprising a camera lumen defined therein, the camera lumen comprising: (A) a socket defined at a proximal end of the camera lumen; (B) a device body including a distal lumen opening defined at a distal end of the device body; (ii) first and second robotic arms operably coupled to a distal end of the device body; (b) a removable camera component, (i) a controller body configured to be releasably positionable within the socket, the controller body including a camera actuator disposed within the controller body; (ii) an elongated tube operably coupled to the controller body, the elongated tube configured and sized to be positionable through a lumen, the elongated tube including an elongated portion including the lumen, an optical portion, and a flexible portion rotatably connecting the optical portion to a rigid portion such that the optical portion is rotatable between a straight configuration and an angled configuration; (iii) a first cable disposed through the elongate tube, the first cable coupled at a proximal end to the camera actuator and operably coupled at a distal end to a first side of the optical portion, the first cable being movable in a proximal direction such that the rigid portion is biased toward the tilted configuration; and (iv) a second cable disposed through the elongate tube, the second cable operably coupled at a distal end to a second side of the optical portion, the second cable including a tensioning component disposed along a length of the second cable, the tensioning component including a tensioned state in which the tensioning component biases the optical portion into the straight configuration.

11. The robotic surgical system of claim 10 , wherein the first and second robotic arms are operably coupled to the distal end of the device body via first and second shoulder joints.

12. The robotic surgical system of claim 10 , wherein the tensioning component includes a spring.

13. The robotic surgical system of claim 10 , further comprising a sealing structure disposed between the socket and the elongated lumen portion.

14. The robotic surgical system of claim 10 , wherein the camera actuator is operable to bias the first cable in a proximal direction such that the rigid portion is biased toward the angled configuration.

15. 15. The robotic surgical system of claim 14, further comprising a tensioning component, wherein when the stiff portion is biased to the angled configuration, a distal end of the second cable is biased distally such that the tensioning component is biased to a tensioned state.

16. The robotic surgical system of claim 10 , wherein the camera actuator is operatively configured to release the first cable such that the tensioning component is configured to bias the rigid portion into the straight configuration.

17. The robotic surgical system of claim 10 , wherein the controller body includes a controller configured to operate the camera actuator.

18. The robotic surgical system of claim 10 , wherein the elongated tube is configured to be rotatable relative to the controller body.

19. A robotic surgical system (a) a robotic surgical device, comprising: (i) a device body comprising a camera lumen defined therein, the camera lumen comprising: (A) a socket defined at a proximal end of the camera lumen; (B) a device body including a distal lumen opening defined at a distal end of the device body; (ii) first and second robotic arms operatively coupled to a distal end of the device body via first and second shoulder joints; (b) a removable camera component, (i) a controller body configured to be releasably placeable within the socket; (ii) an elongated tube operably coupled to the controller body, the elongated tube configured and sized to be positionable through a lumen, the elongated tube including an elongated portion including the lumen, an optical portion, and a flexible portion rotatably connecting the optical portion to a rigid portion such that the optical portion is rotatable between a straight configuration and an angled configuration; (iii) a first cable disposed through the elongate tube, the first cable coupled at a proximal end to a camera actuator and operably coupled at a distal end to a first side of the optical portion, the first cable being movable in a proximal direction such that the rigid portion is biased toward the tilted configuration; (iv) a second cable disposed through the elongate tube, the second cable operably coupled to a second side of the optical portion at a distal end, the second cable including a tensioning component disposed along a length of the second cable, the tensioning component including a tensioned state in which the tensioning component biases the optical portion into the straight configuration; and (v) the camera actuator is disposed within the controller body, the camera actuator being operable to urge the first cable in a proximal direction such that the rigid portion is urged toward the tilted configuration; (vi) the removable camera component including a controller disposed within the controller body, the controller configured to operate the camera actuator.

20. 20. The robotic surgical system of claim 19, wherein the camera actuator is operable to release the first cable such that the tensioning component is configured to bias the rigid portion into the straight configuration.

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