System and method for reversing orientation and view of selected components of miniaturized surgical robotic unit in vivo

Abstract

To provide a surgical robot system that uses a camera assembly and one or more robotic arms.SOLUTION: A robotic unit 50 includes: a camera subassembly coupled to a support member extending in an axial direction of a camera; a first robot arm subassembly having a first robot arm coupled to a support member extending in an axial direction of the first robot arm; and a second robot arm subassembly having a support member extending in an axial direction of a second robot arm, wherein, when inserted in a cavity of a patient 100 through an insertion point, the camera assembly and the first and second robot arms can be controlled for actuating at least one joint of each of the robot arms in a reverse direction such that an end effector region of each of the first and second robot arms is facing toward the insertion point, and moving the camera assembly in a selected direction such that the camera elements are facing toward the insertion point.SELECTED DRAWING: Figure 3A

Description

[Technical Field]

[0001] Related Applications This application claims priority to U.S. Provisional Patent Application No. 63 / 023,034, filed May 11, 2020, and entitled "System And Method For Reversing Orientation And View Of Selected Components Of A Miniaturized Surgical Robotic Unit In Vivo," the contents of which are incorporated herein by reference. [Background technology]

[0002] Since its inception in the early 1990s, the field of minimally invasive surgery has grown rapidly. Minimally invasive surgery offers significant improvements in patient outcomes, but these improvements come at the expense of the surgeon's ability to operate with precision and ease. During traditional laparoscopic procedures, surgeons typically insert laparoscopic instruments through multiple small incisions in the patient's abdominal wall. The nature of tool insertion through the abdominal wall constrains laparoscopic instrument movement because the instruments cannot move side to side without traumatizing the abdominal wall. Standard laparoscopic instruments also have limited motion, typically limited to four axes of motion. These four axes of motion are the movement of the instrument in and out of the trocar (axis 1), the rotation of the instrument within the trocar (axis 2), and the angular movement of the trocar in two planes while maintaining a pivot point for trocar entry into the abdominal cavity (axis 3 and axis 4). For over 20 years, the majority of minimally invasive surgeries have been performed using only these four degrees of freedom of motion. Furthermore, conventional systems require multiple incisions when the surgery requires treatment at multiple different locations within the abdominal cavity.

[0003] Existing robotic surgical devices have attempted to solve many of these problems. Some existing robotic surgical devices use additional degrees of freedom at the end of the instruments to replicate non-robotic laparoscopic surgery. However, even with costly modifications to surgical techniques, existing robotic surgical devices fail to provide improved patient benefits in the majority of procedures for which they are used. Furthermore, existing robotic devices increase the separation between the surgeon and the surgical end effector. This increased separation can lead to injury from the surgeon's misinterpretation of motion and from forces applied by the robotic device. The degrees of freedom of many existing robotic devices are unfamiliar to human operators, and to minimize the possibility of accidental injury, surgeons must undergo extensive training on a robotic simulator before operating on a patient.

[0004] To control existing robotic devices, surgeons typically sit at a console and use their hands and / or feet to control manipulators. Additionally, the robotic camera resides in a semi-fixed location and is moved by combined foot and hand movements from the surgeon. These semi-fixed cameras provide a limited field of view, often making it difficult to visualize the surgical area.

[0005] Other robotic devices have two robotic manipulators inserted through a single incision. These devices reduce the number of required incisions, often at the umbilicus, to a single incision. However, existing single-incision robotic devices have significant drawbacks due to their actuator design. Existing single-incision robotic devices include servo motors, encoders, gearboxes, and all other actuation devices within the in vivo robot, resulting in a relatively large robotic unit inserted into the patient. This size significantly limits the robotic unit's movement and ability to perform various procedures. Furthermore, such large robots typically must be inserted through large incisions, often nearly the size of open surgery, thus increasing the risk of infection, pain, and general morbidity.

[0006] A further drawback of conventional robotic devices is their limited freedom of movement. Therefore, if a surgical procedure requires surgery at multiple different locations, multiple incisions must be made to allow for the insertion of the robotic unit at the different surgical locations. This increases the patient's chance of infection. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] U.S. Patent No. 10,285,765 [Patent Document 2] PCT Patent Application No. PCT / US20 / 39203 [Patent Document 3] U.S. Patent Application Publication No. 2019 / 0076199 Summary of the Invention [Means for solving the problem]

[0008] The present invention is directed to a surgical robotic system that uses a camera assembly having at least three joint degrees of freedom and one or more robotic arms having at least six joint degrees of freedom, plus additional degrees of freedom corresponding to the movement of associated end effectors (e.g., graspers, manipulators, and the like). When mounted within a patient, the camera assembly can move or rotate approximately 180° in a pitch or yaw direction, so that the camera assembly can look rearward toward the insertion site. The camera assembly and robotic arms can thus maneuverably look forward (e.g., away from the insertion site), to either side, upward, or downward, as well as backward and toward the insertion site. The robotic arms and camera assembly can also move in a roll, pitch, and yaw direction.

[0009] The present invention is also directed to a robotic support system including a support column that uses one or more adjustment elements and associated pivot joints. A motor unit of a robotic subsystem can be attached to the distal-most of the adjustment elements. The motor unit can use multiple adjustment elements and pivot points to linearly or axially move one or more components of the robotic unit, including, for example, a robotic arm and camera assembly.

[0010] The present invention is directed to a surgical robotic system including a computing unit for receiving user-generated motion data and generating control signals in response thereto; a robotic support subsystem having a support column; and a robotic subsystem. The support column includes a base portion and a support beam having a first end coupled to the base and an opposite second end coupled to a proximal one of a plurality of adjustment elements. The adjustment elements are configured and arranged to form pivotal joints between adjacent ones of the adjustment elements and between a proximal one of the adjustment elements and the support beam. The robotic subsystem includes a motor unit having one or more motor elements associated therewith, wherein the motor unit is coupled to a distal one of the plurality of adjustment elements, and the robotic unit has a camera subassembly and multiple robot arm subassemblies. The camera subassembly and the multiple robot arm subassemblies are coupled to the motor unit, and when actuated, the motor unit moves one of the camera subassembly and the robot arm subassembly in a selected direction. Furthermore, one or more of the adjustment elements and one or more of the camera subassembly and the robot arm subassembly operate in response to the control signals.

[0011] The camera subassembly includes an axially extending support member, an interface element coupled to one end of the support member, and a camera assembly coupled to an opposite end of the support member. The interface element is configured to engage with one or more of the motor elements of the motor unit. The camera assembly further includes a first camera element having a first light source associated therewith and a second camera element having a second light source associated therewith. The robot arm subassembly includes an axially extending support member, an interface element coupled to one end of the support member, and a robot arm coupled to the opposite end of the support member. Each of the interface elements of the robot arm subassembly is configured to engage with a different one of the motor elements of the motor unit. The interface element of the camera subassembly may be coupled to the same motor element as the interface element of one of the robot arm subassemblies. Alternatively, the interface element of the camera subassembly and the interface element of one of the robot arm subassemblies may be coupled to a different one of the motor elements.

[0012] Further, the robotic arm can include an end effector region, and the camera assembly and first and second robotic arms can be dimensioned and configured to be inserted into a patient's cavity through an insertion point, and the computing unit can generate control signals in response to a user-generated control signal that are received by the first and second robotic arms and the camera assembly. In response to the control signal, each of the first and second robotic arms can be actuated in an opposite direction so that the end effector region faces the insertion point, and the camera assembly can be moved in a selected direction so that the camera element faces the insertion point. Alternatively, in response to the control signal, the robotic arms can be oriented or moved so that they face a first direction that is transverse or perpendicular to the axis of the support member, and each of the first and second robotic arms can be actuated in an opposite direction so that the end effector region faces a second direction substantially opposite the first direction. Furthermore, in response to the control signal, the robotic arms can be oriented so that they face a first direction, and each of the first and second robotic arms can be actuated or operated in opposite directions so that the end effector regions face a second direction substantially opposite the first direction.

[0013] According to the present invention, before moving the camera assembly toward the insertion point, the camera support member can be rotated so that the camera assembly is positioned on the camera support member and one or more camera elements of the camera assembly are facing away from the insertion point. The camera assembly can also be rotated in a pitch direction so that the camera elements are facing toward the insertion point. Alternatively, the camera assembly can be rotated in a yaw direction so that the camera elements are facing toward the insertion point.

[0014] The present invention is also directed to a method of operating a robotic unit in a living body, the robotic unit may include a camera subassembly having a camera assembly coupled to an axially extending camera support member of the camera, a first robotic arm subassembly having a first robotic arm coupled to an axially extending support member of the first robotic arm, and a second robotic arm subassembly having an axially extending support member of the second robotic arm, wherein when inserted into a cavity of a patient through an insertion point, the camera assembly and the first and second robotic arms may be controlled to actuate at least one joint of each of the robotic arms in an opposite direction and to move the camera assembly in a selected direction so that an end effector region of each of the first and second robotic arms faces the insertion point.

[0015] The robot unit may be connected to a motor unit, and the motor unit may be actuated or driven to move the robot unit or the camera assembly in a translational or linear direction relative to the insertion site. Each of the interface elements of the first and second robot arm subassemblies may be configured to engage with a different one of the motor elements of the motor unit. Alternatively, the interface element of the camera subassembly may be coupled to the same motor element as the interface element of one of the first and second robot arm subassemblies. Furthermore, the interface element of the camera subassembly and the interface element of one of the first and second robot arm subassemblies may be coupled to a different one of the motor elements.

[0016] According to the method of the present invention, before moving the camera assembly, the camera assembly can be placed on a camera support member and the camera support member can be rotated so that one or more camera elements of the camera assembly point away from the insertion point. Moving the camera assembly can include rotating the camera assembly in a pitch direction so that the camera elements point toward the insertion point. Alternatively, moving the camera assembly can include rotating the camera assembly in a yaw direction so that the camera elements point toward the insertion point.

[0017] The present invention can also be directed to a method of operating a robotic unit in a vivo, the robotic unit including, when inserted into a patient's cavity via an insertion point, a camera subassembly having a camera assembly coupled to an axially extending support member of the camera, a first robotic arm subassembly having a first robotic arm coupled to the axially extending support member of the first robotic arm, and a second robotic arm subassembly having a second robotic arm coupled to the axially extending support member. The camera assembly and the first and second robotic arms can be controlled to actuate at least one joint of each of the first and second robotic arms in opposite directions so that each end effector region of each of the first and second robotic arms is oriented orthogonal to the insertion axis, and to actuate at least one joint of the camera assembly to move the camera assembly in a selected direction so that the camera element is oriented orthogonal to the insertion axis.

[0018] When the robot unit is connected to the motor unit, the method includes actuating the motor unit to move the robot unit or the camera assembly relative to the insertion site. Further, each of the interface elements of the first and second robot arm subassemblies is configured to engage with a different one of the motor elements of the motor unit. Alternatively, the interface element of the camera subassembly is coupled to the same motor element as the interface element of one of the first and second robot arm subassemblies. Further, the interface element of the camera subassembly and the interface element of one of the first and second robot arm subassemblies are coupled to different ones of the motor elements.

[0019] The method also includes, before moving the camera assembly, rotating the camera support member so that the camera assembly is positioned on the camera support member and one or more camera elements of the camera assembly are pointing away from the backward direction, and moving the camera assembly includes rotating the camera assembly in a pitch or yaw direction so that the camera elements are pointing in the backward direction.

[0020] These and other features and advantages of the present invention will be more fully understood by reference to the following detailed description taken in conjunction with the accompanying drawings, in which like reference numerals refer to like elements throughout the various views, and which, while illustrating the subject matter of the invention, are not to scale and show relative dimensions. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a schematic diagram of a surgical robot system according to the present invention. [Figure 2A] FIG. 1 is a perspective view of a robotic arm subassembly in accordance with the teachings of the present invention. [Figure 2B] FIG. 1 is a perspective view of a camera subassembly in accordance with the teachings of the present invention. [Figure 3A]FIG. 1 is a perspective side view of a support column forming part of a robotic support system used by a surgical robotic system coupled to a robotic subsystem in accordance with the teachings of the present invention. [Figure 3B] FIG. 1 is a perspective side view of a support column coupled to a motor unit of a robotic subsystem, the motor unit using multiple motor elements, and the motor elements coupled to a camera subassembly and a robot arm subassembly, in accordance with the teachings of the present invention. [Figure 3C] FIG. 1 is a perspective side view of a support column coupled to a motor unit of a robotic subsystem, the motor unit using multiple motor elements, and the motor elements coupled to a camera subassembly and a robot arm subassembly, in accordance with the teachings of the present invention. [Figure 3D] FIG. 1 is a perspective side view of a support column coupled to a motor unit of a robotic subsystem, the motor unit using multiple motor elements, and the motor elements coupled to a camera subassembly and a robot arm subassembly, in accordance with the teachings of the present invention. [Figure 3E] FIG. 1 is a perspective top view of a support column coupled to a motor unit of a robotic subsystem, the motor unit using multiple motor elements, and the motor elements coupled to a camera subassembly and a robot arm subassembly, in accordance with the teachings of the present invention. [Figure 3F] FIG. 1 is a perspective top view of a support column coupled to a motor unit of a robotic subsystem, the motor unit using multiple motor elements, and the motor elements coupled to a camera subassembly and a robot arm subassembly, in accordance with the teachings of the present invention. [Figure 3G] FIG. 1 is a perspective top view of a support column coupled to a motor unit of a robotic subsystem, the motor unit using multiple motor elements, and the motor elements coupled to a camera subassembly and a robot arm subassembly, in accordance with the teachings of the present invention. [Figure 4] FIG. 1 is a pictorial perspective view of a robotic unit positioned within a patient's body cavity in accordance with the teachings of the present invention. [Figure 5] FIG. 1 is a pictorial perspective view of a robotic unit positioned within a patient's body cavity with the robotic arm and camera assembly positioned in a neutral position in accordance with the teachings of the present invention. [Figure 6A] FIG. 1 is a pictorial perspective view of a robotic unit positioned within a patient's body cavity, with the robotic arm shown moving toward a rearward-facing position, in accordance with the teachings of the present invention. [Figure 6B] FIG. 1 is a pictorial perspective view of a robotic unit positioned within a patient's body cavity, with the camera subassembly shown moving in a roll direction, in accordance with the teachings of the present invention. [Figure 6C] FIG. 1 is a pictorial perspective view of a robotic unit positioned within a patient's body cavity, with the camera assembly shown pitching to point rearward, in accordance with the teachings of the present invention. [Figure 6D] FIG. 1 is a pictorial perspective view of a robotic unit positioned within a patient's body cavity, with the camera assembly shown moving in an alternate yaw direction so that it is pointing rearward, in accordance with the teachings of the present invention. [Figure 7A] FIG. 10 is a perspective view of an alternative embodiment of a camera subassembly of the surgical robotic system of the present invention. [Figure 7B] 7B is a partial view of the camera assembly of FIG. 7A illustrating the axis of rotation implemented by the articulation joint in accordance with the teachings of the present invention. [Figure 8A] FIG. 10 is a perspective view of another embodiment of the camera subassembly of the present invention. [Figure 8B] FIG. 8B is a perspective view of the camera assembly of FIG. 8A positioned at an articulated position. DETAILED DESCRIPTION OF THE INVENTION

[0022] The present invention uses a surgical robotic unit that can be inserted into a patient via a trocar through a single incision point or site. The robotic unit is small enough to be deployed in vivo at the surgical site and, once inserted, is sufficiently maneuverable to move within the body to perform various surgical procedures at multiple different points or sites. Specifically, the robotic unit can be inserted, and the camera assembly and robotic arm are controlled and manipulated so that they are oriented rearward in a rearward-facing direction. Furthermore, the robotic subsystem can be coupled to a support post that forms part of a robotic support system. The support post can have multiple adjustment or articulation sections that, when properly manipulated and oriented, can impart linear motion to one or more components of the robotic unit.

[0023] In the following description, numerous specific details are set forth regarding the systems and methods of the present invention, as well as the environments in which the systems and methods may operate, to provide a thorough understanding of the disclosed subject matter. However, it will be apparent to those skilled in the art that the disclosed subject matter can be practiced without such specific details, and that some features that are well known in the art have not been described in detail to avoid complexity and improve clarity of the disclosed subject matter. In addition, it will be understood that any examples provided below are merely illustrative and should not be construed as limiting, and that other systems, devices, and / or methods can be used to implement or supplement the teachings of the present invention and are considered to be within the scope of the present invention.

[0024] Although the systems and methods of the present invention may be designed for use with one or more surgical robotic systems used as part of a virtual reality surgical system, the robotic systems of the present invention may be used in connection with any type of surgical system, including, for example, robotic surgical systems, straight-stick type surgical systems, and laparoscopic systems. Additionally, the systems of the present invention may be used in other non-surgical systems where a user needs to access a myriad of information while controlling a device or apparatus.

[0025] The systems and methods disclosed herein can be incorporated and utilized with, for example, the robotic surgical devices and associated systems disclosed in U.S. Patent Nos. 6,279,999 and 6,279,999, and / or the camera system disclosed in U.S. Patent No. 6,279,999, the entire contents and teachings of which are incorporated herein by reference. A surgical robotic unit forming part of the present invention can be part of a surgical system that includes a user workstation, a robotic support system that interacts with and supports a robotic subsystem (RSS), a motor unit, and an implantable surgical robotic unit that includes one or more robotic arms and one or more camera assemblies. The implantable robotic arms and camera assemblies can form part of a single support axis robotic system or can form part of a split-arm (SA) architecture robotic system.

[0026] FIG. 1 is a schematic block diagram illustration of a surgical robotic system 10 in accordance with the teachings of the present invention. System 10 includes a display device or unit 12, a virtual reality (VR) computing unit 14, a sensing and tracking unit 16, a computing unit 18, and a robotic subsystem 20. Display unit 12 can be any selected type of display for displaying information, images, or video generated by VR computing unit 14, computing unit 18, and / or robotic subsystem 20. Display unit 12 can include or form part of, for example, a head-mounted display (HMD), a screen or display, a three-dimensional (3D) screen, and the like. The display unit can also include an optional sensor and tracking unit 16A, such as those found in commercially available head-mounted displays. Sensing and tracking units 16 and 16A can include one or more sensors or detectors coupled to a user of the system, such as a nurse or surgeon. Sensors can be coupled to the user's arms, and if a head-mounted display is not used, additional sensors can also be coupled to the user's head and / or neck region. The sensors in this configuration are represented by sensor and tracking unit 16. If the user uses a head-mounted display, eye, head, and / or neck sensors and associated tracking technology can be incorporated into or used within that device and thus form part of optional sensor and tracking unit 16A. The sensors of sensor and tracking unit 16 coupled to the surgeon's arm may preferably be coupled to selected regions of the arm, such as, for example, the shoulder region, elbow region, wrist or hand region, and, if desired, the fingers. According to one embodiment, the sensors are coupled to a pair of hand controls operated by the surgeon. The sensors generate position data indicative of the position of selected parts of the user.The sensing and tracking unit 16 and / or 16A can be utilized to control the camera assembly 44 and the movement of the robotic arm 42 of the robotic subsystem 20. Position data 34 generated by the sensors of the sensor and tracking unit 16 can be transmitted to the computing unit 18 for processing by the processor 22. The computing unit 18 can determine or calculate the position and / or orientation of each part of the surgeon's arm from the position data 34 and transmit this data to the robotic subsystem 20. According to alternative embodiments, the sensing and tracking unit 16 can use sensors coupled to the surgeon's torso or any other body part. Furthermore, in addition to sensors, the sensing and tracking unit 16 can use an inertial moment unit (IMU) having, for example, an accelerometer, gyroscope, magnetometer, and motion processor. Adding a magnetometer is standard practice in the art because magnetic heading can reduce sensor drift about a vertical axis. Alternative embodiments also include sensors placed on surgical materials such as gloves, a surgical brush, or a surgical gown. The sensors may be reusable or disposable. Additionally, the sensors may be located external to the user, such as in a fixed location in a room, such as an operating room. The external sensors may generate external data 36 that may be processed by the computing unit and thus used by the system 10. According to another embodiment, if the display unit 12 is a head-mounted device using an associated sensor and tracking unit 16A, the device generates tracking and position data 34A that is received and processed by the VR computing unit 14. Additionally, the sensor and tracking device 16 may include hand controls, if desired.

[0027] In embodiments in which the display is an HMD, the display unit 12 may be a virtual reality head-mounted display, such as, for example, an Oculus Rift, Varjo VR-1, or HTC Vive Pro Eye. The HMD may provide the user with a display coupled to or mounted on the user's head, lenses that enable a focused view of the display, and a sensor and / or tracking system 16A that provides position and orientation tracking of the display. The position and orientation sensor system may include, for example, accelerometers, gyroscopes, magnetometers, motion processors, infrared tracking, eye tracking, computer vision, emitting and sensing alternating magnetic fields, and any other method of tracking position and / or orientation, or any combination thereof. As is known, the HMD may provide image data from a camera assembly 44 to the surgeon's left and right eyes. To maintain a virtual reality experience for the surgeon, the sensor system may track the position and orientation of the surgeon's head and then relay that data to the VR computing unit 14 and, if desired, to the computing unit 18. The computing unit 18 can further adjust the pan and tilt of the robot's camera assembly 44 to follow the user's head movements.

[0028] For example, when associated with an HMD, such as associated with the display unit 12 and / or tracking unit 16A, sensor or position data 34A generated by the sensors may be communicated to the computing unit 18 directly or via the VR computing unit 14. Similarly, tracking and position data 34 generated by other sensors in the system, such as from a sensing and tracking unit 16 that may be associated with the user's arms and hands, may be communicated to the computing unit 18. The tracking and position data 34, 34A may be processed by the processor 22 and may also be stored, for example, in the storage unit 24. The tracking and position data 34, 34A may also be used by the control unit 26, which may responsively generate control signals to control the movement of one or more portions of the robotic subsystem 20. The robotic subsystem 20 may include a user workstation, a robotic support system (RSS), a motor unit 40, and an implantable surgical robotic unit including one or more robotic arms 42 and one or more camera assemblies 44. The implantable robotic arm and camera assembly can form part of a single support axis robotic system, such as that disclosed and described in U.S. Patent No. 6,277,999, or can form part of a split-arm (SA) architecture robotic system, such as that disclosed and described in U.S. Patent No. 6,277,999.

[0029] The control signals generated by the control unit 26 may be received by the motor unit 40 of the robotic subsystem 20. The motor unit 40 may include a series of servo motors and gears configured to separately drive the robotic arm 42 and the camera assembly 44. The robotic arm 42 may be controlled to follow the scaled movements or motions of the surgeon's arm sensed by associated sensors. The robotic arm 42 may have portions or regions that can be associated with movements associated with a user's shoulder, elbow, and wrist joints and fingers. For example, the robot's elbow joint may follow the position and orientation of a human's elbow, and the robot's wrist joint may follow the position and orientation of a human's wrist. The robotic arm 42 may also have an end region associated with it that may terminate in an end effector that follows the movement of one or more of the user's fingers, such as the user's index finger when pinched between the index finger and thumb. The robot's shoulder is fixed in position while the robotic arm follows the movement of the user's arm. In one embodiment, the position and orientation of the user's torso is subtracted from the position and orientation of the user's arm. This subtraction allows the user to move their torso without moving the robotic arm.

[0030] The robotic camera assembly 44 is configured to provide the surgeon with image data 48, such as a live video feed of the procedure or surgical site, and to allow the surgeon to operate and control the cameras forming part of the camera assembly 44. The camera assembly 44 preferably includes a pair of cameras 70A, 70B, whose optical axes are axially separated by a selected distance, known as the inter-camera distance, to provide a stereoscopic view or image of the surgical site. The surgeon can control the movement of the cameras 70A, 70B through the movement of a head-mounted display, by sensors coupled to the surgeon's head, or by using hand controls or sensors that track the user's head or arm movements, thus providing the surgeon with an intuitive and natural view of the surgical site. The cameras are movable in multiple directions, including, for example, yaw, pitch, and roll, as is known. The stereoscopic camera components can be configured to provide a user experience that feels natural and comfortable. In some embodiments, the inter-axial distance between the cameras can be modified to match the depth of the surgical site perceived by the user.

[0031] According to one embodiment, the camera assembly 44 can be actuated by the surgeon's head movement. For example, during surgery, if the surgeon wants to view an object located above the current field of view (FOV), the surgeon looks upward, causing the stereoscopic camera to rotate upward about a pitch axis from the user's perspective. Image or video data 48 generated by the camera assembly 44 can be displayed on the display unit 12. If the display unit 12 is a head-mounted display, the display can include an embedded tracking and sensor system 16A that acquires raw orientation data for the HMD's yaw, pitch, and roll directions, as well as the HMD's position data in Cartesian space (x, y, z). However, alternative tracking systems can be used to provide additional position and orientation tracking data for the display instead of, or in addition to, the HMD's embedded tracking system.

[0032] Image data 48 generated by camera assembly 44 can be communicated to virtual reality (VR) computing unit 14 and processed by VR or image rendering unit 30. Image data 48 can include photographic or other image data as well as video data. VR rendering unit 30 can include appropriate hardware and software, as known in the art, for processing the image data and then rendering the image data for display by display unit 12. Furthermore, VR rendering unit 30 can combine the image data received from camera assembly 44 with information associated with the position and orientation of the cameras of the camera assembly and with information associated with the position and orientation of the surgeon's head. Using this information, VR rendering unit 30 can generate an output video or image rendering signal and transmit this signal to display unit 12. That is, VR rendering unit 30 renders a reading of the position and orientation of the surgeon's hand controls and head position for display on a display unit, such as in an HMD worn by the surgeon.

[0033] The VR computing unit 14 may also include a virtual reality (VR) camera unit 38 for generating one or more virtual reality (VR) cameras for use in or mounted in the VR world displayed on the display unit 12. The VR camera unit 38 may generate one or more virtual cameras in the virtual world, which may be used by the system 10 to render images for the head-mounted display. This ensures that the VR camera always renders the same field of view as a user wearing the head-mounted display would see the cubemap. In one embodiment, a single VR camera may be used, while in another embodiment, separate left-eye and right-eye VR cameras may be used to render to separate left-eye and right-eye cubemaps in the display, providing a stereoscopic view. The FOV setting of the VR camera may self-configure relative to the FOV emitted by the camera assembly 44. In addition to providing a live camera field of view, or a contextual background for image data, the cubemap may be used to generate dynamic reflections for virtual objects. This allows reflective surfaces on virtual objects to acquire reflections from the cubemap, making these objects appear to the user as if they actually reflect their real-world environment.

[0034] The robotic subsystem 20 can employ multiple distinct robotic arms 42A, 42B deployable along different or separate axes. Additionally, the camera assembly 44, which can employ multiple distinct camera elements 70A, 70B, can also deploy along a common, separate axis. Thus, the surgical robot unit employs multiple distinct components, such as a pair of separate robotic arms and camera assemblies 44 deployable along different axes. Furthermore, the robotic arms 42 and camera assemblies 44 are independently operable, steerable, and movable. The robotic subsystem 20, including the robotic arms and camera assemblies, can be positioned along separate operable axes and is referred to herein as a split-arm (SA) architecture. The SA architecture is designed to simplify and increase the efficiency of robotic surgical instrument insertion through a single trocar at a single insertion point or site, while concomitantly assisting in the deployment of the surgical instruments into a surgically prepared state and their subsequent removal through the trocar. For example, surgical instruments can be inserted through a trocar to access a patient's body cavity and perform an in vivo procedure. In some embodiments, a variety of surgical instruments may be utilized, including but not limited to robotic surgical instruments, as well as other surgical instruments known in the art.

[0035] In some embodiments, the robotic subsystem 20 of the present invention is supported by a structure with multiple degrees of freedom so that the robotic arms 42A, 42B and camera assembly 44 (e.g., robotic unit 50) can be manipulated to a single position or to multiple different positions within the patient. In some embodiments, the robotic subsystem 20 can be attached directly to the operating table, to the floor or ceiling within the operating room, or to any other type of support structure. In other embodiments, attachment is achieved by various fastening means, including but not limited to clamps, screws, or combinations thereof. In still other embodiments, the support structure can be freestanding. The support structure is referred to herein as a robotic support system (RSS). The RSS can form part of an overall surgical robotic system 10, which can include a virtual station where the surgeon can perform virtual surgery within the patient.

[0036] In some embodiments, the RSS of the surgical robotic system 10 can optionally include a motor unit 40 coupled at one end to the robotic unit 50 and coupled at an opposite end to an adjustable support member or element. Alternatively, as shown herein, the motor unit 40 can form part of the robotic subsystem 20. The motor unit 40 can include gears, one or more motors, a drive train, electronics, and the like to power and drive one or more components of the robotic unit 50. The robotic unit 50 can be selectively coupled to the motor unit 40. According to one embodiment, the RSS can include a support member having the motor unit 40 coupled to its distal end. The motor unit 40 can, in turn, be coupled to each of the camera assembly 44 and the robotic arm 42. The support member can be configured and controlled to move one or more components of the robotic unit 50 linearly or in any other selected direction or orientation.

[0037] The motor unit 40 can also provide mechanical power, electrical power, mechanical transmission, and electrical communication for the robotic unit 50 and can further include an optional controller for processing input data from one or more system components (e.g., the display 12, the sensing and tracking unit 16, the robotic arm 42, the camera assembly 44, and the like) and generating control signals accordingly. The motor unit 40 can also include a memory element for storing data. Alternatively, the motor unit 40 can be controlled by the computing unit 18. The motor unit 40 can thus generate signals for controlling one or more motors, which can then control and drive the robotic arm 42, including, for example, the position and orientation of each articulation joint of each arm, and the camera assembly 44. The motor unit 40 can further provide translational or linear degrees of freedom that are primarily utilized to insert and remove each component of the robotic unit 50 through an appropriate medical device, such as a trocar 108. The motor unit 40 can also be used to adjust the insertion depth of each robotic arm 42 when inserted into the patient 100 through the trocar 108.

[0038] 2A and 2B illustrate the overall design of selected components of the robotic subsystem 20 of the present invention. For example, FIG. 2A illustrates a robotic arm subassembly 56 of the present invention. The illustrated robotic arm subassembly 56 includes an axially extending support member 52 having an interface element 54 coupled to a proximal end and a robot arm 42A coupled to an opposite distal end. The support member 52 serves to support the robot arm 42A when attached thereto and can further function as a conduit for mechanical power, electrical power, and communications. For simplicity, only the first robotic arm 42A is shown; however, the second robotic arm 42B, or any subsequent arms, may be similar or identical. The interface element 54 is configured to connect to the motor unit 40 for transferring drive force and any associated signals from the motor element 40 to the robot arm 42A via the support element 52. The interface element can have any selected shape and dimensions and is preferably configured to engage the drive end of the motor element of the motor unit 40. In one embodiment, the interface elements 54, 76 can use a series of electrical contacts and a series of mechanical coupling devices, such as pulleys, each having an axis of rotation. In another embodiment, the mechanical pulleys can each include a male spline protruding from a surface of the interface element. Each male spline is configured to mate with a female spline located on the drive element, thus providing the transmission of mechanical power in the form of torque. In yet another embodiment, the pulleys can use one or more female splines that engage with one or more male splines located on the drive element. In still other embodiments, mechanical power from the drive element can be transferred to the interface element by other mating types of surfaces, as known in the art. Additionally, the illustrated robotic arm 42A can include a series of articulation sections 58 that form joint sections corresponding to the joints of a human arm.Thus, the articulating sections 58 can be configured and combined to provide rotational and / or hinged motion to mimic various portions of a human arm, such as, for example, a shoulder joint or region, an elbow joint or region, and a wrist joint or region. The articulating sections 58 of the robotic arm 42A are configured to provide, for example, cable-driven rotational motion, but only within reasonable rotational limits. The articulating sections 58 are configured to provide maximum torque and speed using minimal dimensions. In an alternative embodiment, the articulating sections 58 can include spherical joints, thus providing multiple rotational degrees of freedom, such as two or three, in a single joint.

[0039] In one embodiment, each articulating section 58 can be oriented orthogonal to adjacent articulating sections relative to a starting point. Additionally, each articulating section 58 can be cable-driven and have a Hall-effect sensor array associated therewith for joint position tracking. In another embodiment, an articulating section can include an inertial measurement unit or magnetic tracking solution, such as those offered by Polhemus, Inc., integrated therein to provide joint position tracking or estimation. Additionally, communication wires for sensors, as well as mechanical drive cables, can be routed proximally through the inner chamber of the support member 52 to the proximal interface element 54. The robotic arm 42A can also include an end 62 to which one or more surgical tools can be coupled, as known in the art. According to one embodiment, an end effector or grasper 64 can be coupled to the end 62. The end effector can mimic the motion of one or more of a surgeon's fingers.

[0040] FIG. 2B illustrates a camera subassembly 78 of the present invention. The illustrated camera assembly may include an axially extending support member 74 having an interface element 76 coupled to a proximal end and a camera assembly 44 coupled to an opposite distal end. The illustrated camera assembly 44 may include a pair of camera elements 70A, 70B. The camera assembly may be connected or coupled to the support member 74 in a manner that allows the camera assembly to move in yaw and pitch directions relative to the support member. The camera elements may be separate and distinct from one another as shown, or may be mounted in a common housing. Each of the camera elements 70A, 70B may have a light source 72A, 72B, respectively, associated therewith. The light sources may be positioned at any selected location relative to the camera elements. When attached thereto, the support member 74 serves to support the camera assembly 44 and may further function as a conduit for mechanical power, electrical power, and communications. The interface element 76 is configured to connect to the motor unit 40 for transferring drive force and any associated signals from the motor unit 40 to the camera assembly 44 via the support element 52 .

[0041] An alternative embodiment of a camera subassembly of the present invention is shown in FIGS. 7A and 7B. The illustrated camera subassembly 78A can include an axially extending support member 74A having an interface element 76A coupled to a proximal end and a camera assembly 44 coupled to an opposite distal end. The illustrated camera assembly 44 can include a pair of camera elements 82A, 82B. The camera assembly 44 can be connected or coupled to the support member 74A in a manner that allows movement of the camera assembly relative to the support member. The camera elements 82A, 82B can be separate and distinct from one another as shown, or can be attached to a common housing. Each of the camera elements can have a light source 84A, 84B, respectively, associated therewith. The light sources 84A, 84B can be positioned at any selected location relative to the camera elements. When attached thereto, the support member 74A serves to support the camera assembly 44 and can further function as a conduit for mechanical power, electrical power, and communications. The interface element 76A is configured to connect to the motor unit 40 for transferring drive force and any associated signals from the motor unit 40 to the camera assembly 44 via the support element 52. The illustrated support member 74A may also include one or more articulation joints 86 that allow movement of the camera assembly 44 relative to the support member 74A in multiple degrees of freedom, including, for example, three degrees of freedom. The multiple degrees of freedom of the camera assembly 44 may be implemented by the articulation joints 86. The multiple degrees of freedom may include, for example, movement about a roll axis 88A, a yaw axis 88B, and a pitch axis 88C, as shown in FIG. 7B .

[0042] The articulation joint 86 can include, for example, a series of consecutive hinge joints, each orthogonal to the adjacent or previous joint, and the camera assembly 44 can be coupled to the most distal articulation joint 86. This configuration essentially forms a snake-like camera subassembly, in which the articulation joints 86 can be actuated to reposition and angle the camera assembly 44 to view a larger portion of the body cavity. One of the additional degrees of freedom can include a rotational degree of freedom, the axis of which is parallel to the longitudinal axis of the support member 74A. This additional rotational axis can also be orthogonal to the other axes, providing increased maneuverability for the camera subassembly. Furthermore, the maneuverability and positioning capabilities of the camera subassembly can be improved by adding more than three degrees of freedom. In some embodiments, the illustrated camera subassembly 78A can include a series of spherical, or ball-shaped, joints, each individually enabling two or three degrees of freedom. Ball joints can enable similar degrees of freedom in a more compact package.

[0043] Yet another embodiment of a camera subassembly is shown in FIGS. 8A and 8B. The illustrated camera subassembly 78B can include an axially extending support member 74B having an interface element 76B coupled to a proximal end and a camera assembly 44 coupled to an opposite distal end. The illustrated camera assembly 44 can be configured differently and can include, for example, a stacked assembly including an imaging unit 130 having a pair of camera elements and an optical unit 132 including one or more light sources. The camera assembly 44 can be connected or coupled to the support member 74B in a manner that allows movement of the camera assembly relative to the support member. When attached thereto, the support member 74B serves to support the camera assembly 44 and can further function as a conduit for mechanical power, electrical power, and communications. The interface element 76B is configured to connect to the motor unit 40 for transferring drive power and any associated signals from the motor unit 40 to the camera assembly 44 via the support element 52. The illustrated support member 74B may also include one or more articulation joints 134 that allow movement of the camera assembly 44 relative to the support member 74A in multiple degrees of freedom, including, for example, three degrees of freedom. The multiple degrees of freedom of the camera assembly 44 may be implemented by the articulation joints 134. The camera assembly 44 may move using the articulation joints, similar to the camera subassembly 78A. FIG. 8B shows the distal end of the camera assembly positioned in a bent, articulated position.

[0044] The robotic arm subassembly 56, 56 and camera subassembly 78 are capable of multiple degrees of freedom of movement. According to one embodiment, when the robotic arm subassembly 56, 56 and camera subassembly 78 are inserted into a patient via a trocar, the subassemblies can move in at least the axial, yaw, pitch, and roll directions. The robotic arm subassembly 56, 56 is configured to incorporate and utilize multiple degrees of freedom of movement with an optional end effector 64 attached to its distal end. In other embodiments, the working or distal end of the robotic arm subassembly 56, 56 is designed to incorporate and utilize other robotic surgical instruments.

[0045] As shown in FIGS. 3A through 3G , the motor unit 40 can be coupled to a support column 90 that forms part of a robotic support system (RSS), which in turn forms part of the surgical robotic system 10 of the present invention. The RSS is configured to mechanically operate motor elements located outside the patient's body cavity so that any desired motion can be performed around or relative to the trocar 108. The RSS can thus provide yaw, pitch, and, in some embodiments, roll motion around the trocar, providing or imparting these degrees of freedom to the robotic arm subassembly and to the camera subassembly during surgery without harming the patient. Such motion can also be provided by robotic coordination of multiple elements or through articulation modes of the joints of the robotic arm. The illustrated support column 90 can have any selected shape and dimensions and is preferably configured to move and manipulate one or more components of the robotic unit 50 portion of the robotic subsystem 20. The support column 90 can have a main body having a base element 92 and a vertically extending support beam 94 coupled thereto. The support beam 94 may be used to provide mechanical support for a pair of adjustment elements 96 coupled thereto. The adjustment elements 96 may be pivotally movable relative to one another via pivot joints. Those skilled in the art will readily appreciate that the support column 90 may employ one or more adjustment elements, preferably two or more, and most preferably three or more. In the illustrated embodiment, the adjustment elements 96 may include a first adjustment element 96A pivotally coupled to the support beam 94 via a first, or proximal, pivot joint 98A. The pivot joint may employ any known collection of mechanical elements capable of pivoting movement of the first adjustment element 96A relative to the support beam 94. The support column 90 may also employ a second, or intermediate, adjustment element 96B coupled to the first adjustment element 96A via a second, or intermediate, pivot joint 98B. The second pivot joint 98B allows for pivotal movement of the second adjustment element 96B relative to the first adjustment element 96A.The support column 90 also employs a third, or distal, adjusting element 96C coupled to the second adjusting element 96B by a third, or distal, pivot joint 98C that allows for pivotal movement of the third adjusting element 96C relative to the second adjusting element 96B.

[0046] A third, or distal, adjustment element 96C can also be coupled to the motor unit 40 via any selected mechanical connection to translate or linearly move the motor unit. The motor unit 40 can use one or more drive elements, or motor elements 40A-40C, to drive one or more components of the robot subsystem 20, specifically, the robot arm subassembly 56 and the camera subassembly 78. Specifically, the support column 90 can be configured to move and adjust one or more motor elements of the motor unit 40 in at least two degrees of freedom, and more typically, five or six degrees of freedom. In one embodiment, the motor unit 40 can be attached to the adjustment element 96C to adjust the position of the motors 40A-40C, and thus the position of one or more components of the robot unit coupled to the motors. The linear, or translational, position of the motors can be adjusted by coordinated movement of one or more of the adjustment elements 96A-96C relative to one another via pivot joints 98A-98C. Additionally, the motor elements can also be translated relative to the third adjustment element 96C by a sliding translational motion. This translational motion allows for independent control of the depth of each motor element relative to the trocar. In one embodiment, a linear degree of freedom, typically in the form of a linear rail, exists between the third adjustment element 96C and each of the motor elements, allowing for translational control of each motor element relative to the trocar. Linear rails can exist between different motor elements of the motor unit 40. For example, there can be a linear rail connecting the third adjustment element 96C to a camera motor element, on which there are second and third linear rails, each connecting to a first and second robot arm motor element, respectively.

[0047] Additionally, the positions of the motors 40A-40C can be adjusted axially, moved in an arc, or moved vertically relative to the patient. In one embodiment, multiple motors 40A-40C can be mounted on the same adjustment element 96C to simultaneously adjust the positions of the motors and, therefore, one or more components of the robotic unit coupled to the motors, as seen, for example, in FIGS. 3C and 3E-3G. In other embodiments, each of the motors is mounted on a separate adjustable support element to provide independent adjustment of each motor. In still other embodiments, two or more motors can be mounted on a common support element and the remaining motors on separate support elements.

[0048] The illustrated support post 90 can be configured to carry any necessary mechanical and electrical cables and connections. The support post 90 can be coupled to or placed in communication with the computing unit 18 to receive control signals therefrom. The motor unit 40 can be coupled to one or more motors 40A-40C, and the motor units can translate or axially move the camera and robot arm subassembly via interface elements 54, 76. The adjustment element 96C can be dimensioned and configured to mount an appropriately sized motor unit 40.

[0049] During use during surgery, a user, such as a surgeon, can set up the RSS in the operating room, positioning the RSS in the appropriate location for surgery and the support column 90 and associated motor unit 40 in preparation for coupling to the robotic unit 50. More specifically, motor elements 40A-40C of the motor unit 40 can be coupled to the camera subassembly 78 and to each of the robotic arm subassemblies 56. As shown in FIGS. 3A through 3G and 4 , a patient 100 is transported to the operating room, placed on an operating table 102, and prepared for surgery. An incision is made in the patient 100 to provide access to a body cavity 104. A trocar device 108, or any similar device, is then inserted into the patient 100 at a selected location to provide access to the desired body cavity 104, or surgical site. For example, to access the patient's abdominal cavity, the trocar 108 may be inserted into and through the patient's abdominal wall. In this example, the patient's abdomen is then insufflated with an appropriate insufflation gas, such as carbon dioxide. When the patient's abdomen is properly insufflated, the RSS, including the support strut 90, can then be maneuvered into position over the patient 100 and trocar 108. The camera subassembly 78 and one or more robotic arm subassemblies 56 can be coupled to the motor unit 40 and inserted into the trocar 108 and, therefore, into the patient's body cavity 104. Specifically, the camera assembly 44 and the robotic arms 42A, 42B can be individually and sequentially inserted into the patient 100 through the trocar 108. The sequential insertion method has the advantage of supporting a smaller trocar, thus allowing for a smaller incision to be made in the patient, thus reducing trauma to the patient. Furthermore, the camera assembly 44 and the robotic arms 42A, 42B can be inserted in any order or in a specific sequence. According to one embodiment, the camera assembly can be followed by a first robotic arm, then a second robotic arm, all of which can be inserted into the trocar 108 and, therefore, into the body cavity 104.

[0050] After insertion into the patient 100, each component of the robotic unit 50 (e.g., the robotic arms and camera assembly) can be moved toward the surgeon or into a pre-surgery position in an automated manner. In some embodiments, the camera assembly 44 can use a stereoscopic camera and can be configured to be equidistant from the shoulder joints of each robotic arm 42A, 42B, and thus centered therebetween. The placement of the cameras 70A, 70B and the two shoulder joints forms a virtual shoulder of the robotic unit 50. The robotic arms have at least six degrees of freedom, and the camera assemblies have at least two degrees of freedom, allowing the robot to orient and work in selected directions, such as left, right, straight ahead, and reverse, as described in more detail below.

[0051] Once inside the patient 100, the working ends of the robotic arms 42A, 42B and the camera assembly 44 can be positioned by a combination of movement of the adjustment elements 96A-96C, the motor elements 40A-40C, and movement within the articulation joint or section 58 of the robotic arm and camera assembly. The articulation section 58 allows the working ends of the robotic arms 42A, 42B and the camera assembly 44 to be positioned and oriented within the body cavity 104. In one embodiment, the articulation section provides multiple degrees of freedom inside the patient, including yaw, pitch, and roll movement, for example, relative to the vertical shoulder of the robotic arm. Additionally, yaw movement about the trocar 108 effectively translates the working ends of the robotic arms left or right in the body cavity 104 relative to the trocar 108. Additionally, pitch movement about the trocar 108 effectively translates the working ends inside the patient up, down, or vice versa. Motor elements that can move axially or linearly, or translate, to provide degrees of translational freedom allow each working end to be inserted shallower or deeper into the patient along the long axis of the trocar 108. Finally, articulation joints enable small, dexterous movements and delicate manipulation of tissue or other tasks via the end effector 64. For example, in one embodiment, three articulation joints associated with the camera assembly 44 allow the associated imaging element to be positioned most advantageously for viewing a surgical maneuver or other desired element. In combination, the three articulation joints allow the surgeon to yaw and pitch to any desired viewing angle and adjust the angle of the horizon. The combination of various elements and various movement capabilities creates a highly dexterous system within a very large volume, giving the device and user a high degree of freedom in how to approach and perform tasks at a work site. According to another embodiment, each robotic arm and camera assembly can be inserted through its own independent trocar and are internally triangulated to perform tasks at a common surgical site.

[0052] The robotic subsystem 20 of the present invention provides maximum flexibility for the device during surgery. Through a single point of incision, the surgeon can manipulate the robotic arm 42 and camera assembly 44 at various surgical locations within the abdominal cavity 104. Surgical sites can include those to the left of the trocar insertion point, those to the right of the trocar insertion point, those anterior or frontal to the trocar insertion point, and, if necessary, those posterior to the camera assembly 44, looking "backward" toward the trocar insertion point. When the robotic unit 50 of the present invention is inserted into the cavity 104, the surgeon can reverse the perspective of the robotic arm 42 and camera assembly 44 to view those portions of the abdominal cavity posterior to the robotic unit 50. That is, the perspective of the camera robot assembly can be reversed to look rearward. Similarly, the position of the robotic arm 42 can be reversed based on the arm's multiple degrees of freedom of movement. Having a surgical robotic unit 50 that can be manipulated while pointing toward the trocar insertion site greatly enhances the flexibility of the overall surgical system 10, since the robotic unit 50 can reach anywhere within the abdominal cavity 104. With its full reach, the robotic unit 50 can perform any surgery using only a single incision, which reduces trauma to the patient. A robotic unit that can reach and see the insertion site can also sew the incision closed, which saves time and tool use in an operating room environment. Furthermore, a similar capability exists for the robotic arm, which can have at least six degrees of freedom internally, plus several degrees of freedom associated with the end effector.

[0053] 4 is a general schematic diagram of the robotic unit 50 of the present invention positioned within the abdominal cavity 104 of a patient 100, with the robotic unit positioned in a rearward-facing orientation or position. The robotic unit 50 passes through a trocar inserted through an incision point 110 and into the cavity 104. As shown, the camera assembly 44 and robotic arm 42 are positioned in a rearward-facing orientation in accordance with the teachings of the present invention. The support column 90, robotic arm 42, and camera assembly 44 can be controlled by the computing unit 18 to perform or execute a combination of movements, such as axial, pitch, roll, and / or yaw movements or rotations, that position the robotic arm and camera assembly to face rearward toward the incision point 110 with a sufficiently clear field of view to perform the surgical procedure.

[0054] FIG. 5 is a schematic diagram of a robotic unit 50 of the present invention as initially inserted through a trocar 108 into a body cavity 104, such as the abdominal cavity, of a patient. The depicted positioning of the robotic arms 42A, 42B and camera assembly 44 forms a typical or normal operating position of the robotic unit 50, indicating that the unit is ready for use. The robotic unit 50 includes a pair of robotic arms 42A, 42B, each coupled to a corresponding support member 52A, 52B extending along a longitudinal axis. The robotic arms 42A, 42B are movable relative to the support members 52A, 52B into a plurality of different directions and orientations and have corresponding shoulder, elbow, and wrist joints. The depicted robotic arms are identical and include a first robotic arm 42A, which can correspond to a right robotic arm, as shown, and a second robotic arm 42B, which can correspond to a left robotic arm, as shown. The robotic unit 50 also includes a camera assembly 44 that uses a pair of stereoscopic cameras 70A, 70B formed by a pair of axially spaced lens systems, which, in the shown position, correspond to a right camera element 70A (e.g., the right eye) and a left camera element 70B (e.g., the left eye). The camera assemblies 44 are mounted to corresponding support members 74 and are movable relative thereto in a plurality of different directions, including yaw, pitch, and roll. The camera assemblies can be coupled to the support members using any selected mechanical connection that allows the assembly to move in a plurality of different directions, including yaw and pitch. Each of the individual robotic arms 42A, 42B and camera assemblies 44 is inserted into the cavity 104 via a trocar 108 at an incision point 110 and is supported by its respective support member extending along the longitudinal axis.

[0055] During use, the robotic arms 42A, 42B and the camera assembly 44 can be manipulated by a user, such as a surgeon. If the user desires to position the robotic unit 50 in a rear-facing (e.g., backward) orientation or position to view the incision point 110 or other portions of the body cavity, the robotic arms 42A, 42B and the camera assembly 44 can be individually manipulated in several coordinated movements to move each component into a rear-facing position. This can be achieved through a variety of different movements of the robotic arms and camera assemblies. For example, the sensing and tracking units 16, 16A can sense the surgeon's movements and generate signals that are received and processed by the computing unit 18. In response, the computing unit can generate control signals that control the movements of the robotic arm subassemblies and the camera subassembly. Specifically, the user's hand and head movements are sensed and tracked by the sensing and tracking units 16, 16A and processed by the computing unit 18. The control unit 26 can generate control signals that are communicated to the robotic subsystem 20. Accordingly, the motor unit 40, which includes one or more motors or drive elements, can be controlled to drive or move the camera subassembly 78 and the robotic arm subassemblies 56, 56 in a selected manner.

[0056] For example, if a user desires to position the robot unit 50 in a rearward-facing position, the controller can generate and transmit appropriate commands to the robot subsystem to perform a series of coordinated movements, e.g., as shown in FIGS. 6A-6D . First, the camera support member 74 is moved axially away from the incision point 110, as shown by arrow A in FIG. 6A , e.g., by one or more of the motor units and / or by the coordinated movement of one or more of the adjustment elements 96 of the support column 90. The axial movement of the support member 74 positions the camera assembly 44 sufficiently away from the robot arm to allow rotation of the arm without undesired interference from the camera assembly. Enabled by six degrees of freedom, the robot arms 42A, 42B can then rotate selected amounts upward and backward, as shown by arrow B, at the elbow joint 116 and shoulder joint 114 formed by the corresponding articulated sections 58 of the robot arm. In the new orientation and position, the right robot arm 42A effectively becomes the left robot arm, and the left robot arm 42B effectively becomes the right robot arm. The support column 90 can employ a motor assembly 40, which, in response to appropriate control signals, can move the camera assembly 44 and associated camera support member 74 in a number of different directions. The camera support element 74 can then rotate or move in a roll direction, as shown by arrow C in FIG. 6B . In this direction, the camera assembly 44 similarly rotates, so the camera elements effectively switch sides. For example, camera element 70A is now positioned opposite the camera assembly 44 but, concomitantly, still functions as the camera assembly's "right eye." Similarly, camera 70B is now positioned opposite the camera assembly 44 but, concomitantly, still functions as the camera assembly's "left eye." Furthermore, in this position, the camera support member 74 is positioned outside the field of view of the camera elements 70A, 70B.The camera assembly 44 can then be rotated approximately 180 degrees in the pitch direction, as shown by arrow D in FIG. 6C, so that the fields of view of the cameras 70A, 70B now face rearward toward the incision point 110.

[0057] According to an alternative embodiment, the camera support member 74 can be moved 180 degrees in the roll direction, followed by a 180-degree rotation of the camera assembly 44 in the yaw direction, as shown by arrow E in FIG. 6D . When the camera assembly 44 is rotated in this manner, the camera positions are reversed from the user's perspective. Specifically, the left eye becomes the right eye, and the right eye becomes the left eye. This misaligned eye orientation can be addressed by the controller, which exchanges commands so that commands intended for the left eye are then transmitted to the right eye, and vice versa. According to another alternative embodiment, the camera support member 74 is initially positioned within the cavity so as not to obscure the view of the insertion point 110 from the camera assembly's perspective, thus only needing to translate or rotate the camera. Thus, the camera assembly 44 can be moved approximately 180 degrees in the yaw or pitch direction relative to the camera support member 74. When the camera assembly 44 is rotated, the arms are reversed from the user's perspective. Specifically, the left arm becomes the right arm, and the right arm becomes the left arm. This misaligned orientation can be addressed by the controller, which swaps commands so that commands intended for the left arm are then transmitted to the right arm, and vice versa. Specifically, software corrections or remapping can be implemented to process commands for the correct robotic arm and camera element (e.g., system software needs to be remapped so that the left controller drives the right arm, and vice versa). Additionally, the video feeds for the camera elements can be swapped to achieve the desired result.

[0058] In addition to moving the camera assembly 44, the robotic arms 42A, 42B can move as well. For example, the robotic arms 42A, 42B can rotate to point rearward toward the insertion point or site. Rotational movement of the robotic arms can be achieved by rotating the arms at a corresponding joint, such as at the shoulder joint 114, so that the arms rotate past the camera assembly and point rearward toward the trocar 108.

[0059] According to yet another embodiment, camera assembly 44 can be inserted into body cavity 104 of patient 100 in the orientation shown in Figure 6B (e.g., camera assembly positioned on top of camera support member 74). If further movement of camera assembly 44 is performed, the camera elements would be reversed relative to those shown in Figures 6C and 6D.

[0060] Additionally, by similar means of adjusting the relative angles of the arm and camera joints, the user can position the robotic unit in left-looking, right-looking, up-looking, and down-looking modes, thereby allowing the user to operate at any angle relative to the insertion site. This can be further augmented by external yaw, pitch, and roll of the motor elements, allowing translational positioning and operation of the robotic unit within the body cavity.

[0061] An advantage of the above-described surgical robotic system 10 is that it is highly adaptable and easy to operate, allowing the surgeon to move the robotic unit 50 throughout the body cavity 104. Additionally, the robotic unit 50 can be oriented in many different ways and configurations, including looking backward toward the insertion point 110. Because the robotic unit 50 can reach and see into the insertion point 110, the unit can also suture the incision point 110 closed, which saves time and tool usage in an operating room environment. [Explanation of symbols]

[0062] 10. System, surgical robot system 12 Display device or unit, display unit, display 14 Virtual Reality (VR) Computing Unit 16 Sensing and tracking units, sensor and tracking units, sensor and tracking devices 18 computing units 20 Robot Subsystem 22 processors 24 Memory Unit 26 Control Unit 30 VR or Image Rendering Units, VR Rendering Units 34 Location Data, Tracking and Location Data, Sensor or Location Data 34A Tracking and Location Data 36 External Data 38 Virtual Reality (VR) Camera Unit 40 Motor unit, motor element, motor assembly 42 Robot Arm 44 Camera Assembly 48 Image data, image or video data 50 Robot Unit 52 Support members, support elements 54 Interface Elements 56 robot arm subassemblies, 58 Joint Section, Joint Section 62 End 64 End effector or gripper, end effector 74 Support member 76 Interface Elements 78 Camera Subassembly 86 Articulated Joint 90 Support Pillar 92 base elements 94 Support beam 96 Adjustment Factors 100 patients 102 Operating table 104 Body cavity, abdominal cavity, cavity 108 Trocars, trocar devices 110 Incision point, insertion point 114 Shoulder Joint 116 Elbow Joint 130 Imaging unit 132 Optical Unit 134 Articulated Joints

Claims

[Claim 1] A surgical robot system, comprising: a robotic subsystem including a camera assembly, a first robotic arm, and a second robotic arm, the robotic subsystem being insertable through a trocar and having multiple degrees of freedom; a robot support system coupled to the robot subsystem; Equipped with The robot support system includes: a motor unit configured to drive the robotic subsystem; and a plurality of adjustment elements pivotably movable relative to one another; Equipped with The robotic support system is configured to move the robotic subsystem with at least two additional degrees of freedom relative to the trocar based on coordinated movement of at least one of the plurality of adjustment elements, thereby enabling the robotic subsystem to operate in multiple directions.

Images