Vibration damping for surgical systems

Abstract

In some embodiments, the robotic arm includes a first link, a second link, and a revolute joint. The revolute joint is coupled to the first link and the second link and enables the first link to move relative to the second link. The revolute joint includes a rotor, a harmonic drive mechanism, and a vibration damper. The rotor is coupled to the first link and configured to provide a rotor torque. The harmonic drive mechanism is coupled to the rotor and configured to increase the rotor torque. The vibration damper is coupled to the harmonic drive mechanism and the second link. The vibration damper enables transfer of the rotor torque from the harmonic drive mechanism to the second link and reduces vibration of the robotic arm.

Description

[Technical field]

[0001] The systems and methods disclosed herein relate to surgical systems and, more particularly, to systems and methods for reducing vibration in surgical systems. [Background technology]

[0002] Minimally invasive procedures allow access to a target site within a patient with minimal trauma to the patient. For example, laparoscopic surgery can allow surgical access to a patient's cavity through a small incision in the patient's abdomen. A cannula can form a surgical corridor to allow tools to access the patient's cavity. In some procedures, the cannula can be coupled to a robotic arm to allow the robotic arm to rotate, pivot, or otherwise move the cannula within the patient's cavity. By moving the cannula within the patient's cavity, a tool operably coupled to the robotic arm can access a desired portion of the patient's cavity. In some applications, the cannula can be attached to and / or detached from the robotic arm to facilitate positioning, configuration, and / or sterilization of the cannula. [Brief description of the drawings]

[0003] The disclosed aspects are hereinafter described in conjunction with the accompanying drawings, which illustrate, but do not limit, the disclosed aspects, and in which like designations refer to like elements and in which: [Figure 1] 1 illustrates one embodiment of a cart-based robotic system deployed for diagnostic and / or therapeutic bronchoscopy procedures. [Diagram 2] 2 depicts a further embodiment of the robotic system of FIG. 1. [Diagram 3] 2 illustrates an embodiment of the robotic system of FIG. 1 positioned for ureteroscopy. [Figure 4] 2 illustrates one embodiment of the robotic system of FIG. 1 deployed for a vascular procedure. [Diagram 5]1 illustrates one embodiment of a table-based robotic system positioned for a bronchoscopy procedure. [Figure 6] 6 provides an alternative view of the robotic system of FIG. 5. [Figure 7] 1 illustrates an example system configured to accommodate a robotic arm. [Figure 8] 1 illustrates one embodiment of a table-based robotic system configured for a ureteroscopy procedure. [Figure 9] 1 illustrates one embodiment of a table-based robotic system configured for laparoscopic procedures. [Figure 10] FIG. 10 illustrates an embodiment of the table-based robotic system of FIGS. 5-9 with pitch or tilt adjustment. [Figure 11] FIG. 11 provides a detailed illustration of the interface between the table and column of the table-based robotic system of FIGS. [Figure 12] 1 illustrates an alternative embodiment of a table-based robotic system. [Figure 13] FIG. 13 illustrates an end view of the table-based robotic system of FIG. [Figure 14] FIG. 1 illustrates an end view of a table-based robotic system with a robotic arm attached. [Figure 15] 1 illustrates an exemplary instrument driver. [Figure 16] 1 illustrates an exemplary medical instrument having a pair of instrument drivers. [Figure 17] illustrates an alternative design of an instrument driver and instrument in which the axis of the drive unit is parallel to the axis of the elongated shaft of the instrument. [Figure 18] 1 illustrates an instrument having an instrument-based insertion architecture. [Figure 19] 1 illustrates an exemplary controller. [Figure 20] FIG. 13 illustrates a block diagram showing a localization system that estimates the location of one or more elements of the robotic system of FIGS. 1-10, such as the location of the instrument of FIGS. 16-18, in accordance with an exemplary embodiment. [Figure 21] 1 shows a perspective view of a surgical system. [Figure 22] 1 is a flow chart illustrating a method for reducing vibration in a surgical system. [Figure 23] FIG. 1 is a schematic diagram of a rotary joint of the surgical system. [Figure 24] FIG. 2 is a perspective view of a torsional vibration damper. [Diagram 25] FIG. 1 is a cross-sectional perspective view of an embodiment of a centrifugal pendulum absorber. [Figure 26] FIG. 2 is a schematic diagram of a centrifugal pendulum type absorber. [Figure 27] 1 is a chart showing vibration frequency compared to rotor speed for a centrifugal pendulum type absorber. [Figure 28] FIG. 2 is a cross-sectional front view of a squeeze film damper assembly. [Figure 29] FIG. 2 is a cross-sectional side view of a squeeze film damper assembly. [Diagram 30] FIG. 2 is a cross-sectional side view of a squeeze film damper assembly. [Diagram 31] FIG. 2 is a schematic diagram of a linear guide. [Diagram 32] FIG. [Diagram 33] FIG. [Diagram 34] 1 is a chart showing acceleration compared to time for a vibrating guide. [Diagram 35] FIG. 2 is a cross-sectional side view of the end effector. [Diagram 36] 1 is a flow chart illustrating a method for reducing vibration in a surgical system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0004] 1. Overview Aspects of the present disclosure may be integrated into a robotic-enabled medical system capable of performing a variety of medical procedures, including both minimally invasive procedures such as laparoscopy, and non-invasive procedures such as endoscopic procedures, such as bronchoscopy, ureteroscopy, and gastroscopy, among others.

[0005] In addition to performing a wide range of procedures, the system may provide additional benefits such as enhanced imaging and guidance to assist the physician. Furthermore, the system may provide the physician with the ability to perform procedures from an ergonomic position without the need for awkward arm movements and positions. Still further, the system may provide the physician with the ability to perform procedures with improved ease of use, such that even a single user may control one or more of the instruments of the system.

[0006] Various embodiments are described below in conjunction with the drawings for purposes of illustration. It should be understood that many other implementations of the concepts of the present disclosure are possible and that various advantages may be realized in the implementations of the present disclosure. Headings are included herein for reference and to aid in locating various sections. The headings do not limit the scope of the concepts described therein. Such concepts may be applied throughout the entire specification.

[0007] A. Robotic System - Cart. Robot-enabled medical systems can be configured in a variety of ways depending on the particular procedure. FIG. 1 illustrates one embodiment of a cart-based robot-enabled system 10 arranged for diagnostic and / or therapeutic bronchoscopy procedures. During bronchoscopy, the system 10 can include a cart 11 having one or more robotic arms 12 for delivering medical instruments, such as a steerable endoscope 13, which can be a procedure-specific bronchoscope for bronchoscopy, to a natural orifice access point (i.e., the mouth of a patient positioned on a table in this example) for delivering diagnostic and / or therapeutic tools. As shown, the cart 11 can be positioned adjacent to the patient's upper torso to provide access to the access point. Similarly, the robotic arms 12 can be actuated to position a bronchoscope relative to the access point. The arrangement of FIG. 1 can also be utilized when performing Gastro-Intestinal (GI) procedures with a gastroscope, an endoscope specialized for GI procedures. FIG. 2 depicts an example embodiment of the cart in more detail.

[0008] With continued reference to FIG. 1, once the cart 11 is properly positioned, the robotic arm 12 can insert the steerable endoscope 13 into the patient robotically, manually, or a combination thereof. As shown, the steerable endoscope 13 can include at least two nested parts, such as an inner leader section and an outer sheath section, each section coupled to a separate instrument driver from a set of instrument drivers 28, each instrument driver coupled to the distal end of an individual robotic arm. This linear arrangement of the instrument drivers 28, which facilitates coaxial alignment of the leader section with the sheath section, creates a "virtual rail" 29 that can be repositioned in space by manipulating one or more robotic arms 12 to different angles and / or positions. The virtual rails described herein are depicted in the figures using dashed lines, and thus do not depict any physical structure of the system. Translation of the instrument driver 28 along the virtual rail 29 nests the inner leader section relative to the outer sheath section, or advances or retracts the endoscope 13 from the patient. The angle of the virtual rail 29 may be adjusted, translated, or pivoted based on clinical application or physician preference. For example, in bronchoscopy, the angle and position of the virtual rail 29 shown represents a compromise between providing the physician access to the endoscope 13 and minimizing friction that results from bending the endoscope 13 into the patient's mouth.

[0009] The endoscope 13 can be directed downstream of the patient's trachea and lungs after insertion using precise commands from the robotic system until the target destination or surgical site is reached. The endoscope 13 can be manipulated to telescope the inner leader portion from the outer sheath portion to enhance articulation and increase bend radius to enhance navigation through the patient's pulmonary network and / or reach a desired target. The use of a separate instrument driver 28 also allows the leader and sheath portions to be driven independently of one another.

[0010] For example, the endoscope 13 may be directed to deliver a biopsy needle to a target, such as a lesion or nodule in the patient's lung. The needle may be deployed through a working channel that runs the length of the endoscope to obtain a tissue sample that is analyzed by a pathologist. Depending on the results of the pathology, additional tools may be deployed through the working channel of the endoscope for additional biopsies. After identifying the nodule as malignant, the endoscope 13 may deliver tools endoscopically to ablate the potential cancerous tissue. In some cases, the diagnostic and therapeutic treatments may be delivered in separate procedures. In these situations, the endoscope 13 may also be used to deliver fiducials to "mark" the location of the targeted nodule. In other cases, the diagnostic and therapeutic treatments may be delivered during the same procedure.

[0011] The system 10 may also include a movable tower 30 that may be connected to the cart 11 via a support cable to provide support for control, electronics, fluidics, optics, sensors, and / or power to the cart 11. Placing such functionality in the tower 30 may reduce the form factor of the cart 11, allowing the operating surgeon and his / her staff to more easily adjust and / or reposition the cart 11. Additionally, the division of functionality between the cart / table and the support tower 30 reduces clutter in the operating room and promotes improved clinical workflow. The cart 11 may be positioned near the patient, while the tower 30 may be housed in a remote location so as not to get in the way during the procedure.

[0012] To support the robotic system described above, the tower 30 may include computer-based control system components that store computer program instructions in a non-transitory computer-readable storage medium, such as, for example, a persistent magnetic storage drive, a solid-state drive, or the like. Execution of these instructions, whether execution occurs in the tower 30 or in the cart 11, may control the entire system or subsystems thereof. For example, when executed by a processor in a computer system, the instructions may cause the robotic system components to actuate the carriage and arm mounts, operate the robotic arm, and control medical instruments. For example, in response to receiving control signals, motors in the joints of the robotic arm may position the arm in a particular pose.

[0013] The tower 30 may also include pumps, flow meters, valve controls, and / or fluid access to provide controlled irrigation and aspiration capabilities to a system that may be deployed through the endoscope 13. These components may also be controlled using the computer system of the tower 30. In some embodiments, irrigation and aspiration capabilities may be provided directly to the endoscope 13 via separate cables.

[0014] The tower 30 may include voltage and surge protection designed to provide filtered, protected power to the cart 11, thereby avoiding the need to place power transformers and other auxiliary power components within the cart 11 and making the cart 11 smaller and more mobile.

[0015] The tower 30 may also include support equipment for sensors deployed throughout the robotic system 10. For example, the tower 30 may include optoelectronic equipment for detecting, receiving, and processing data received from optical sensors or cameras throughout the robotic system 10. In combination with a control system, such optoelectronic equipment may be used to generate real-time images for display on any number of consoles deployed throughout the system, including in the tower 30. Similarly, the tower 30 may also include electronic subsystems for receiving and processing signals from deployed ElectroMagnetic (EM) sensors. The tower 30 may also be used to house and position EM field generators for detection by EM sensors in or on a medical instrument.

[0016] The tower 30 may also include a console 31 in addition to other consoles available to the rest of the system, for example a console mounted on top of a cart. The console 31 may include a user interface and a display screen, such as a touch screen, for the operator physician. The console of the system 10 is typically designed to provide both robotic control and pre-operative and real-time information of the procedure, such as navigation and localization information for the endoscope 13. If the console 31 is not the only console available to the physician, a second operator, such as a nurse, may use the console 31 to monitor the patient's health or vital signs and the operation of the system, as well as provide procedure-specific data, such as navigation and localization information. In other embodiments, the console 30 is housed in a body separate from the tower 30.

[0017] The tower 30 may be coupled to the cart 11 and endoscope 13 via one or more cables or connections (not shown). In some embodiments, support functions from the tower 30 may be provided to the cart 11 through only one cable, simplifying and decluttering the operating room. In other embodiments, certain functions may be combined in separate wiring and connections. For example, power may be provided to the cart through only one power cable, while support for the controls, optics, fluidics, and / or navigation may be provided through separate cables.

[0018] FIG. 2 provides a detailed view of an embodiment of a cart from the cart-based robot-enabled system shown in FIG. The cart 11 generally includes an elongated support structure 14 (often referred to as a "column"), a cart base 15, and a console 16 at the top of the column 14. The column 14 may include one or more carriages, such as a carriage 17 (alternatively an "arm support") for supporting the deployment of one or more robotic arms 12 (three are shown in FIG. 2). The carriage 17 may include individually configurable arm mounts that rotate along orthogonal axes to adjust the base of the robotic arms 12 for better positioning relative to the patient. The carriage 17 also includes a carriage interface 19 that allows the carriage 17 to translate vertically along the column 14.

[0019] The carriage interface 19 is connected to the column 14 through slots, such as slots 20 positioned on either side of the column 14 to guide the vertical translation of the carriage 17. The slots 20 contain the vertical translation interfaces to position and hold the carriage at various vertical heights relative to the cart base 15. The vertical translation of the carriage 17 allows the cart 11 to adjust the reach of the robotic arm 12 to meet various table heights, patient sizes, and physician preferences. Similarly, an individually configurable arm mount on the carriage 17 allows the robotic arm base 21 of the robotic arm 12 to be angled in various configurations.

[0020] In some embodiments, a slot cover may be added to the slot 20 that is flush and parallel with the slot surface to prevent dirt and fluids from entering the internal chamber of the column 14 and the vertical translation interface as the carriage 17 translates vertically. The slot cover may be deployed through a pair of spring spools positioned near the vertical top and bottom of the slot 20. The cover is coiled within the spools until it deploys to extend and retract from the coiled state as the carriage 17 translates vertically up and down. The spring loading of the spools provides a force to retract the cover onto the spool as the carriage 17 translates towards the spool, while also maintaining a seal as the carriage 17 translates away from the spool. The cover may be connected to the carriage 17 using, for example, a bracket at the carriage interface 19 to ensure that the cover extends and retracts properly as the carriage 17 translates.

[0021] Column 14 may contain mechanisms therein, such as gears and motors, designed to use a vertically aligned leadscrew to mechanically translate carriage 17 in response to control signals generated in response to user input, such as input from console 16.

[0022] The robotic arm 12 may generally include a robotic arm base 21 and an end effector 22 separated by a series of links 23 connected by a series of joints 24, each joint including an independent actuator, each actuator including an independently controllable motor. Each separately controllable joint represents an independent degree of freedom available to the robotic arm. Each of the arms 12 has seven joints, thus providing seven degrees of freedom. A large number of joints provides a large number of degrees of freedom, allowing for "redundant" degrees of freedom. The redundant degrees of freedom allow the robotic arm 12 to position its respective end effector 22 at a specific position, orientation, and trajectory in space using different link positions and joint angles. This allows the system to position and orient the medical instrument from a desired point in space, while allowing the physician to move the arm joints to a clinically advantageous position away from the patient to create greater access while avoiding arm collisions.

[0023] The cart base 15 balances the weight of the column 14, carriage 17, and arm 12 on the floor. Thus, the cart base 15 houses the heavier parts, such as electronics, motors, power supplies, as well as components that allow the cart to be both mobile and / or immobilized. For example, the cart base 15 includes casters 25 in the form of rollable wheels that allow the cart to be easily moved around the room prior to treatment. After reaching the proper position, the casters 25 can be immobilized using wheel locks to hold the cart 11 in place during treatment.

[0024] The console 16 positioned at the vertical end of the column 14 allows for both a user interface and a display screen (or dual-purpose device, e.g., touch screen 26) for receiving user input to provide both pre-operative and intra-operative data to the physician user. Potential pre-operative data on the touch screen 26 may include pre-operative planning, navigation and mapping data derived from a pre-operative computerized tomography (CT) scan, and / or notes from a pre-operative patient interview. Intra-operative data on the display may also include vital patient statistics such as respiration, heart rate, and / or pulse, along with optical information provided by tools, sensor information from sensors, and coordinate information. The console 16 may be positioned and tilted to allow the physician to access the console from the side of the column 14 opposite the carriage 17. From this position, the physician may view the console 16, the robotic arm 12, and the patient while operating the console 16 from behind the cart 11. As shown, the console 16 also includes a handle 27 to help manipulate and stabilize the cart 11.

[0025] FIG. 3 shows an embodiment of the robot-enabled system 10 positioned for ureteroscopy. In a ureteroscopy procedure, the cart 11 can be positioned to deliver a ureteroscope 32, a procedure-specific endoscope designed to follow the patient's urethra and ureters, to the patient's lower abdominal region. In a ureteroscopy, it may be desirable for the ureteroscope 32 to be aligned directly with the patient's urethra to reduce friction and forces on the sensitive anatomical structures in that area. As shown, the cart 11 can be aligned to the table legs to allow the robotic arm 12 to position the ureteroscope 32 for direct linear access to the patient's urethra. From the table legs, the robotic arm 12 can insert the ureteroscope 32 along a virtual rail 33 directly through the urethra and into the patient's lower abdomen.

[0026] After insertion into the urethra using control techniques similar to those in bronchoscopy, the ureteroscope 32 can be navigated to the bladder, ureters, and / or kidneys for diagnostic and / or therapeutic applications. For example, the ureteroscope 32 can be directed to the ureter and kidney to fragment accumulated kidney stones using a laser lithotriptor or ultrasonic lithotriptor device deployed through the working channel of the ureteroscope 32. After lithotripsy is complete, the resulting stone fragments can be removed using a basket deployed through the ureteroscope 32.

[0027] FIG. 4 shows an embodiment of a robot-enabled system similarly positioned for a vascular procedure. In a vascular procedure, the system 10 may be configured such that the cart 11 can deliver a medical instrument 34, such as a steerable catheter, to an access point in the femoral artery in the patient's leg. The femoral artery presents both a larger diameter for navigation as well as a less circuitous and tortuous path to the patient's heart, which simplifies navigation. As in a ureteroscopy procedure, the cart 11 may be positioned toward the patient's leg and lower abdomen to enable the robotic arm 12 to provide a virtual rail 35 with direct linear access to the femoral artery access point in the patient's thigh / hip region. After insertion into the artery, the medical instrument 34 may be oriented and inserted by translating the instrument driver 28. Alternatively, the cart may be positioned around the patient's upper abdomen to reach alternative vascular access points, such as the carotid and brachial arteries near the shoulder and wrist.

[0028] B. Robot system-table. An embodiment of a robot-enabled medical system may also incorporate a patient table. The incorporation of a table reduces the amount of capital equipment in the operating room by removing the cart and allows better access to the patient. FIG. 5 shows an embodiment of such a robot-enabled system deployed for a bronchoscopy procedure. The system 36 includes a support structure or column 37 for supporting a platform 38 (shown as a "table" or "bed") across the floor. Much like a cart-based system, the end effector of the robotic arm 39 of the system 36 includes an instrument driver 42 that is designed to manipulate an elongated medical instrument, such as the bronchoscope 40 of FIG. 5, through or along a virtual rail 41 formed from the linear alignment of the instrument driver 42. In practice, a C-arm for providing fluoroscopic imaging can be positioned across the patient's upper abdominal region by placing emitters and detectors around the table 38.

[0029] FIG. 6 provides an alternative view of the system 36 without the patient and medical instruments for discussion purposes. As shown, the column 37 may include one or more carriages 43, shown as a ring shape, which may be the base for one or more robotic arms 39 in the system 36. The carriages 43 may translate along a vertical column interface 44 that runs the length of the column 37 to provide different vantage points from which the robotic arms 39 may be positioned to reach the patient. The carriages 43 may rotate about the column 37 using mechanical motors positioned within the column 37 to allow the robotic arms 39 to have access to multiple sides of the table 38, such as both sides of the patient. In embodiments with multiple carriages, the carriages may be positioned separately on the column and may translate and / or rotate independently of the other carriages. The carriages 43 do not have to surround the column 37 or even be circular, although the ring shape shown facilitates the rotation of the carriages 43 about the column 37 while maintaining structural balance. Rotation and translation of carriage 43 allows the system to align medical instruments such as endoscopes and laparoscopes to different access points on the patient. In other embodiments (not shown), system 36 may include a patient table or bed with an adjustable arm support in the form of a bar or rail extending alongside it. One or more robotic arms 39 may be attached to the adjustable arm support that can be adjusted vertically (e.g., via a shoulder with an elbow joint). By providing vertical adjustment, robotic arms 39 may advantageously be stored compactly under a patient table or bed and then raised during a procedure.

[0030] The arm 39 may be attached to the carriage via a set of arm mounts 45 that comprise a series of joints that may individually rotate and / or telescope to provide additional configurability to the robotic arm 39. Additionally, the arm mounts 45 may be positioned on the carriage 43 such that when the carriage 43 is appropriately rotated, the arm mounts 45 may be positioned on either the same side of the table 38 (as shown in FIG. 6), on opposite sides of the table 38 (as shown in FIG. 9), or on adjacent sides of the table 38 (not shown).

[0031] The column 37 structurally provides support for the table 38 and a path for the vertical translation of the carriage. Internally, the column 37 may be equipped with a lead screw for guiding the vertical translation of the carriage and a motor for mechanizing the translation of that carriage based on the lead screw. The column 37 may transmit power and control signals to the carriage 43 and to a robotic arm 39 attached thereto.

[0032] The table base 46 serves a similar function as the cart base 15 of the cart 11 shown in FIG. 2, housing the heavier components to counterbalance the table / bed 38, column 37, carriage 43 and robotic arm 39. The table base 46 may also incorporate rigid casters to provide stability during the procedure. The casters extend from the bottom of the table base 46 in opposite directions on either side of the base 46 and may be retracted when the system 36 needs to be moved.

[0033] Continuing with FIG. 6, the system 36 may also include a tower (not shown) that divides the functionality of the system 36 between the table and the tower to reduce the form factor and bulk of the table. As seen in the previously disclosed embodiments, the tower may provide various support functions to the table, such as processing, computing, and control capabilities, power, fluidics, and / or optical and sensor processing. The tower may also be moved to be positioned away from the patient to improve physician access and keep the operating room clutter-free. Furthermore, placing components in the tower allows for more storage space in the table base for possible accommodation of a robotic arm. The tower may also include a master controller or console that provides both a user interface for user input, such as a keyboard and / or pendant, and a display screen (or touch screen) for pre-operative and intra-operative information, such as real-time imaging, navigation, and tracking information. In some embodiments, the tower may also include a holder for a gas tank used for ventilation.

[0034] In some embodiments, the table base may house and store the robot arm when not in use. Figure 7 illustrates a system 47 for housing the robot arm in one embodiment of a table-based system. In the system 47, the carriage 48 may be vertically translated into the base 49 to house the robot arm 50, arm mount 51, and carriage 48 within the base 49. The base cover 52 may be translated and retracted open to deploy the carriage 48, arm mount 51, and arm 50 about a column 53, and closed to store and protect them when not in use. The base cover 52 may be sealed with a membrane 54 along the edge of its opening to prevent dirt and fluid ingress when closed.

[0035] FIG. 8 shows an embodiment of a robotic-enabled table-based system configured for a ureteroscopy procedure. For ureteroscopy, the table 38 may include a swivel 55 for positioning the patient at an off angle from the column 37 and table base 46. The swivel 55 may rotate or pivot about a pivot point (e.g., located below the patient's head) to position the bottom of the swivel 55 away from the column 37. For example, pivoting the swivel 55 allows a C-arm (not shown) to be positioned over the patient's lower abdomen without competing for space with the column (not shown) below the table 38. By rotating the carriage 35 (not shown) about the column 37, the robotic arm 39 may insert the ureteroscope 56 directly into the patient's groin area along the virtual rail 57 to reach the urethra. For ureteroscopy, stirrups 58 may be secured to the swivel 55 of the table 38 to support the position of the patient's legs during the procedure and allow clear access to the patient's groin area.

[0036] In a laparoscopic procedure, minimally invasive instruments may be inserted into a patient's anatomy through small incisions in the patient's abdominal wall. In some embodiments, the minimally invasive instruments include an elongated rigid member, such as a shaft, that is used to access anatomy within the patient. After distension of the patient's abdominal cavity, the instruments may be oriented to perform a surgical or medical task, such as grasping, cutting, ablation, suturing, etc. In some embodiments, the instruments may comprise a scope, such as a laparoscope. FIG. 9 illustrates an embodiment of a robot-enabled table-based system configured for a laparoscopic procedure. As shown in FIG. 9, the carriage 43 of the system 36 may be rotated and vertically adjusted to position a pair of robotic arms 39 on either side of the table 38 such that the instruments 59 may be positioned using the arm mounts 45 to pass through minimal incisions on either side of the patient to reach the patient's abdominal cavity.

[0037] To accommodate laparoscopic procedures, the robotic table system may also tilt the platform to a desired angle. FIG. 10 shows an embodiment of a robotic medical system with pitch or tilt adjustment. As shown in FIG. 10, the system 36 accommodates the tilt of the table 38 to position one portion of the table higher off the floor than another portion. Additionally, the arm mount 45 may rotate to match the tilt such that the arm 39 maintains the same planar relationship as the table 38. To accommodate steeper angles, the column 37 may also include a telescoping portion 60 that allows for vertical extension of the column 37 to prevent the table 38 from contacting the floor or colliding with the base 46.

[0038] FIG. 11 provides a detailed illustrative view of the interface between the table 38 and the column 37. The pitch mechanism 61 may be configured to vary the pitch angle of the table 38 relative to the column 37 in multiple degrees of freedom. The pitch mechanism 61 may be enabled by positioning orthogonal axes 1, 2 at the column-table interface, each actuated by a separate motor 3, 4 in response to an electrical pitch command. Rotation along one screw 5 would allow tilt adjustment in one axis 1, while rotation along the other screw 6 would allow tilt adjustment along the other axis 2. In some embodiments, the use of ball joints allows the pitch angle of the table 38 relative to the column 37 to be varied in multiple degrees of freedom.

[0039] For example, pitch adjustment is particularly useful when attempting to position the table in the Trendelenburg position, i.e., positioning the patient's lower abdomen higher off the floor than the patient's lower abdomen for lower abdominal surgery. The Trendelenburg position allows gravity to slide the patient's internal organs down to the patient's upper abdomen, emptying the abdominal cavity for entry of minimally invasive tools to perform lower abdominal surgical or medical procedures, such as laparoscopic prostatectomy.

[0040] 12 and 13 illustrate isometric and end views of an alternative embodiment of a table-based surgical robotic system 100. The surgical robotic system 100 includes one or more adjustable arm supports 105 that can be configured to support one or more robotic arms relative to a table 101 (see, e.g., FIG. 14). In the illustrated embodiment, only one adjustable arm support 105 is shown, but additional arm supports can be provided on the opposite side of the table 101. The adjustable arm support 105 can be configured to move relative to the table 101 to adjust and / or change the position of the adjustable arm support 105 and / or any robotic arm attached thereto relative to the table 101. For example, the arm support 105 can be adjustably adjusted with one or more degrees of freedom relative to the table 101. The adjustable arm support 105 provides the system 100 with great versatility, including the ability to easily accommodate one or more adjustable arm supports 105 and any robotic arms attached thereto under the table 101. The adjustable arm support 105 can be raised from a stowed position to a position below the top surface of the table 101. In other embodiments, the adjustable arm support 105 can be raised from a stowed position to a position above the top surface of the table 101.

[0041] The adjustable arm support 105 can provide several degrees of freedom, including lift, lateral translation, tilt, etc. In the illustrated embodiment of Figs. 12 and 13, the arm support 105 is configured with four degrees of freedom, which are illustrated by arrows in Fig. 12. The first degree of freedom allows adjustment of the adjustable arm support 105 in the z-direction ("Z-lift"). For example, the adjustable arm support 105 can include a carriage 109 configured to move up and down along or relative to the column 102 that supports the table 101. The second degree of freedom can allow the adjustable arm support 105 to tilt. For example, the adjustable arm support 105 can include a rotational joint, which can allow the adjustable arm support 105 to align with the bed in the Trendelenburg position. The third degree of freedom allows the adjustable arm support 105 to "pivot up," which can be used to adjust the distance between the side of the table 101 and the adjustable arm support 105. A fourth degree of freedom may allow translation of the adjustable arm support 105 along the longitudinal length of the table.

[0042] The surgical robotic system 100 of Figures 12 and 13 may include a table supported by a column 102 mounted to a base 103. The base 103 and column 102 support the table 101 against a support surface. A bed axis 131 and a support axis 133 are shown in Figure 13.

[0043] An adjustable arm support 105 can be mounted to the column 102. In other embodiments, the arm support 105 can be mounted to the table 101 or the base 103. The adjustable arm support 105 can include a carriage 109, a bar or rail connector 111, and a bar or rail 107. In some embodiments, one or more robot arms mounted to the rail 107 can translate and move relative to each other.

[0044] The carriage 109 may be attached to the column 102 by a first joint 113, which allows the carriage 109 to move relative to the column 102 (e.g., up and down a first or vertical axis 123). The first joint 113 may provide a first degree of freedom ("Z-lift") to the adjustable arm support 105. The adjustable arm support 105 may include a second joint 115 that provides a second degree of freedom (tilt) to the adjustable arm support 105. The adjustable arm support 105 may include a third joint 117 that may provide a third degree of freedom ("pivot up") to the adjustable arm support 105. A further joint 119 (shown in FIG. 13) may be provided that mechanically constrains the third joint 117 to maintain the orientation of the rail 107 as the rail connector 111 is rotated about a third axis 127. The adjustable arm support 105 may include a fourth joint 121 that may provide a fourth degree of freedom (translation) to the adjustable arm support 105 along a fourth axis 129 .

[0045] FIG. 14 illustrates an end view of a surgical robotic system 140A with two adjustable arm supports 105A, 105B mounted on either side of a table 101. A first robotic arm 142A is attached to a bar or rail 107A of the first adjustable arm support 105B. The first robotic arm 142A includes a base 144A attached to the rail 107A. The distal end of the first robotic arm 142A includes an instrument drive mechanism 146A that can be attached to one or more robotic medical instruments or tools. Similarly, the second robotic arm 142B includes a base 144B attached to the rail 107B. The distal end of the second robotic arm 142B includes an instrument drive mechanism 146B. The instrument drive mechanism 146B can be configured to attach to one or more robotic medical instruments or tools.

[0046] In some embodiments, one or more of the robotic arms 142A, 142B comprise arms with seven or more degrees of freedom. In some embodiments, one or more of the robotic arms 142A, 142B can include eight degrees of freedom, including an insertion axis (one degree of freedom including insertion), wrist (three degrees of freedom including wrist pitch, yaw and roll), elbow (one degree of freedom including elbow pitch), shoulder (two degrees of freedom including shoulder pitch and yaw), and base 144A, 144B (one degree of freedom including translation). In some embodiments, the insertion degree of freedom can be provided by the robotic arms 142A, 142B, while in other embodiments, the instrument itself provides the insertion via an instrument-based insertion architecture.

[0047] C. Instrument drivers and interfaces. The end effector of the robotic arm of the system comprises (i) an instrument driver (alternatively referred to as an "instrument drive mechanism" or "instrument device manipulator") that incorporates electromechanical means for actuating the medical instrument, and (ii) a removable or detachable medical instrument that may lack any electromechanical components such as a motor. This dichotomy may be caused by the need to sterilize the medical instruments used in the medical procedure and the inability to adequately sterilize expensive capital equipment due to the complex mechanical assembly and sensitive electronics of the medical instruments. Thus, the medical instruments may be designed to be detached, removed, and replaced from the instrument driver (and thus the system) upon individual sterilization or disposal by the physician or physician's staff. In contrast, the instrument driver does not need to be replaced or sterilized and may be draped for protection.

[0048] FIG. 15 illustrates an exemplary instrument driver. The instrument driver 62, positioned at the distal end of the robotic arm, is comprised of one or more drive units 63 arranged with parallel axes to provide a controlled torque to the medical instrument via a drive shaft 64. Each drive unit 63 comprises an individual drive shaft 64 for interacting with the instrument, a gearhead 65 for converting motor shaft rotation to a desired torque, a motor 66 for generating the drive torque, an encoder 67 for measuring the rotational speed of the motor shaft and providing feedback to the control circuit, and a control circuit 68 for receiving a control signal to operate the drive unit. Each drive unit 63 is controlled and motorized independently of the others, and the instrument driver 62 may provide multiple (four shown in FIG. 15) independent drive outputs to the medical instrument. In operation, the control circuit 68 would receive the control signal, send a motor signal to the motor 66, compare the resulting motor rotational speed measured by the encoder 67 to a desired speed, and modulate the motor signal to generate the desired torque.

[0049] For procedures requiring a sterile environment, the robotic system may incorporate a drive interface, such as a sterile adapter connected to a sterile drape, located between the instrument driver and the medical instrument. The primary purpose of the sterile adapter is to transfer angular motion from the drive shaft of the instrument driver to the drive input of the instrument while maintaining physical separation between the drive shaft and the drive input, and thus sterility. Thus, an example sterile adapter may consist of a set of rotational inputs and outputs intended to mate with the drive shaft of the instrument driver and the drive input to the instrument. The sterile drape, which is connected to the sterile adapter, is composed of a thin flexible material, such as a transparent or translucent plastic, and is designed to cover the instrument driver, the robotic arm, and capital equipment, such as a cart (in a cart-based system) or a table (in a table-based system). The use of the drape allows the capital equipment to be positioned in close proximity to the patient while still being located in an area that does not require sterility (i.e., the non-sterile field). On the other side of the sterile drape, the medical instrument may interface with the patient in an area that requires sterility (i.e., the sterile field).

[0050] D. Medical equipment. 16 shows an exemplary medical instrument with a paired instrument driver. Similar to other instruments designed for use with a robotic system, the medical instrument 70 comprises an elongated shaft 71 (or elongated body) and an instrument base 72. The instrument base 72, also referred to as an "instrument handle" due to its design intended for manual interaction by a physician, may comprise a rotary drive input 73, e.g., a receptacle, pulley, or spool, designed to mate with a drive output 74 that passes through a drive interface on an instrument driver 75, typically at the distal end of a robotic arm 76. When physically connected, latched, and / or coupled, the mating drive input 73 of the instrument base 72 may share an axis of rotation with the drive output 74 in the instrument driver 75, allowing for the transfer of torque from the drive output 74 to the drive input 73. In some embodiments, the drive output 74 may comprise a spline designed to mate with a receptacle on the drive input 73.

[0051] The elongated shaft 71 is designed to be delivered through either an anatomical opening or lumen, such as in an endoscope, or a minimally invasive incision, such as in a laparoscopy. The elongated shaft 71 can be either flexible (e.g., having properties similar to an endoscope) or rigid (e.g., having properties similar to a laparoscope), or can include a customized combination of both flexible and rigid sections. If designed for laparoscopy, the distal end of the rigid elongated shaft can be connected to an end effector extending from an articulating wrist formed from a clevis having at least one degree of freedom, and to a surgical tool or medical instrument, such as a grasper or scissors, that can be actuated based on a force from a tendon as the drive input rotates in response to a torque received from the drive output 74 of the instrument driver 75. If designed for endoscopy, the distal end of the flexible elongated shaft can include a steerable or controllable bend that can be articulated and bent based on a torque received from the drive output 74 of the instrument driver 75.

[0052] Torque from the instrument driver 75 is transmitted downstream of the elongated shaft 71 using tendons along the shaft 71. These individual tendons, such as pull wires, can be individually secured to individual drive inputs 73 in the instrument handle 72. From the handle 72, the tendons pass along the elongated shaft 71 through one or more pull lumens and are secured to a distal portion of the elongated shaft 71 or are secured to a wrist at the distal portion of the elongated shaft. During a surgical procedure, such as a laparoscopic, endoscopic, or hybrid procedure, these tendons can be coupled to a distally mounted end effector, such as a wrist, grasper, or scissors. In such an arrangement, torque exerted on the drive input 73 would transmit tension to the tendons, thereby actuating the end effector in some manner. In some embodiments, the tendons can rotate a joint about an axis to move the end effector in one direction or another during a surgical procedure. Alternatively, the tendon may be connected to one or more jaws of a grasper at the distal end of the elongate shaft 71 such that tension from the tendon causes the grasper to close.

[0053] In endoscopy, the tendons may be coupled to a bend or articulating section positioned along (e.g., at the distal end) of the elongate shaft 71 via adhesive, control rings, or other mechanical fixation. When fixedly attached to the distal end of the bend section, torque exerted on the drive input 73 is transferred to the tendons, causing the softer bend section (sometimes referred to as the articulating section or articulating region) to bend or articulate. Along the non-bend section, it may be convenient to thread or spiral the individual pull lumens that direct the individual tendons along (or inwardly) the wall of the endoscope shaft to counterbalance the radial forces resulting from tension in the pull wires. The angle of thread and / or spacing between them may be modified or engineered for specific purposes, with narrower threads exhibiting poor shaft compression under load forces, while lesser threads provide superior shaft compression under load forces, but also limited bending. At the other end of the spectrum, orienting the pull lumen parallel to the longitudinal axis of the elongate shaft 71 can allow for controlled articulation at the desired bend or articulation.

[0054] In endoscopy, the elongated shaft 71 houses several components that aid in robotic procedures. The elongated shaft may be configured with a working channel for deploying surgical tools (or medical instruments), irrigation, and / or suction to a surgical site at the distal end of the shaft 71. The elongated shaft 71 may also house wires and / or optical fibers that carry signals at the distal tip to / from an optical assembly that may include an optical camera. The shaft 71 may also house optical fibers for carrying light from a proximally located light source, such as a light emitting diode, to the distal end of the shaft.

[0055] At the distal end of the instrument 70, the distal tip may include a working channel opening for delivering tools to the surgical site for diagnosis and / or treatment, irrigation, and aspiration. The distal tip may also include a port for a camera, such as a fiberscope or digital camera, to capture images of the internal anatomical space. In this regard, the distal tip may also include a port for a light source to illuminate the anatomical space when the camera is in use.

[0056] In the example of FIG. 16, the drive shaft axis, and therefore the drive input axis, is orthogonal to the axis of the elongated shaft. However, this arrangement complicates the roll ability of the elongated shaft 71. Rolling the elongated shaft 71 along its axis while holding the drive input 73 stationary results in undesirable entanglement of the tendons as they exit the drive input 73 and enter the pull lumen within the elongated shaft 71. Such resulting entanglement of tendons can thwart any control algorithms aimed at predicting the movement of a flexible elongated shaft during an endoscopic procedure.

[0057] FIG. 17 illustrates an alternative design of the instrument driver and instrument, in which the axis of the drive unit is parallel to the axis of the elongated shaft of the instrument. As shown, a circular instrument driver 80 includes four drive units with their drive outputs 81 aligned in parallel at the end of a robotic arm 82. The drive units and their respective drive outputs 81 are housed in a rotating assembly 83 of the instrument driver 80 that is driven by one of the drive units in that assembly 83. In response to torque provided by the rotating drive units, the rotating assembly 83 rotates along a circular bearing that connects the rotating assembly 83 to a non-rotating portion 84 of the instrument driver. Power and control signals can be conveyed from the non-rotating portion 84 of the instrument driver 80 to the rotating assembly 83 through electrical contacts and can be maintained throughout the rotation by a brushed slip ring connection (not shown). In other embodiments, the rotating assembly 83 can be responsive to a separate drive unit that is integrated into the non-rotatable portion 84 and thus not parallel to the other drive units. The rotation mechanism 83 enables the instrument driver 80 to rotate the drive units and their respective drive outputs 81 as a single unit about the instrument driver axis 85 .

[0058] Similar to the previously disclosed embodiments, the instrument 86 may include an elongated shaft portion 88 and an instrument base 87 (shown with a transparent exterior skin for purposes of discussion) that includes a number of drive inputs 89 (such as receptacles, pulleys, and spools) configured to receive the drive outputs 81 in the instrument driver 80. Unlike the previously disclosed embodiments, the instrument shaft 88 extends from the center of the instrument base 87, with the axis being substantially parallel to the axis of the drive inputs 89, rather than orthogonal as seen in the design of FIG.

[0059] When coupled to the rotating assembly 83 of the instrument driver 80, the medical instrument 86, including the instrument base 87 and the instrument shaft 88, rotates with the rotating assembly 83 about the instrument driver axis 85. Because the instrument shaft 88 is positioned in the center of the instrument base 87, the instrument shaft 88 is coaxial with the instrument driver axis 85 when attached. Rotation of the rotating assembly 83 therefore causes the instrument shaft 88 to rotate about its own longitudinal axis. Also, because the instrument base 87 rotates with the instrument shaft 88, any tendons connected to the drive input 89 at the instrument base 87 do not become entangled during rotation. Thus, the parallelism of the axes of the drive output 81, drive input 89, and instrument shaft 88 allows for shaft rotation without entangling any of the control tendons.

[0060] FIG. 18 illustrates an instrument having an instrument-based insertion architecture, according to some embodiments. The instrument 150 can be coupled to any of the instrument drivers discussed above. The instrument 150 comprises an elongated shaft 152, an end effector 162 connected to the elongated shaft 152, and a handle 170 coupled to the elongated shaft 152. The elongated shaft 152 comprises a tubular member having a proximal portion 154 and a distal portion 156. The elongated shaft 152 comprises one or more channels or grooves 158 along its outer surface. The grooves 158 are configured to receive one or more wires or cables 180. Thus, the one or more cables 180 run along the outer surface of the elongated shaft 152. In other embodiments, the cables 180 can run through the elongated shaft 152. Manipulation of one or more of the cables 180 (e.g., via an instrument driver) results in actuation of the end effector 162.

[0061] The instrument handle 170, sometimes referred to as the instrument base, may typically include a mounting interface 172 having one or more mechanical inputs 174, e.g., receptacles, pulleys or spools, designed to intermate with one or more torque couplers on the mounting surface of the instrument driver.

[0062] In some embodiments, the instrument 150 comprises a series of pulleys or cables that allow the elongated shaft 152 to translate relative to the handle 170. In other words, the instrument 150 itself constitutes an instrument-based insertion architecture that accommodates the insertion of the instrument, thereby minimizing reliance on the robotic arm to effect the insertion of the instrument 150. In other embodiments, the robotic arm may be more heavily involved in the insertion of the instrument.

[0063] E. Controller. Any of the robotic systems described herein can include an input device or controller for manipulating an instrument attached to the robotic arm. In some embodiments, the controller can be coupled (e.g., communicatively, electronically, electrically, wirelessly, and / or mechanically) to the instrument such that manipulation of the controller causes a corresponding manipulation of the instrument, e.g., via master-slave control.

[0064] 19 is a perspective view of one embodiment of the controller 182. In this embodiment, the controller 182 includes a hybrid controller that can include both impedance control and admittance control. In other embodiments, the controller 182 can only utilize impedance control, i.e., passive control. In other embodiments, the controller 182 can only utilize admittance control. Advantageously, being a hybrid controller allows the controller 182 to have a lower perceived inertia during use.

[0065] In the illustrated embodiment, the controller 182 is configured to enable manipulation of two medical instruments and includes two handles 184. Each of the handles 184 is connected to a gimbal 186. Each gimbal 186 is connected to a positioning platform 188.

[0066] 19, each positioning platform 188 includes a SCARA arm (Selectively Compliant Assembly Robot Arm) 198 coupled to a column 194 by a prismatic joint 196. The prismatic joint 196 is configured to translate along the column 194 (e.g., along a rail 197) to allow each of the handles 184 to translate in the z-direction, providing a first degree of freedom. The SCARA arm 198 is configured to allow movement of the handles 184 in the xy-plane, providing an additional two degrees of freedom.

[0067] In some embodiments, one or more load cells are positioned within the controller. For example, in some embodiments, a load cell (not shown) is positioned on the body of each of the gimbals 186. By providing the load cells, a portion of the controller 182 can operate under admittance control, thereby advantageously reducing the perceived inertia of the controller during use. In some embodiments, the positioning platform 188 is configured for admittance control while the gimbal 186 is configured for impedance control. In other embodiments, the gimbal 186 is configured for admittance control and the positioning platform 188 is configured for impedance control. Thus, in some embodiments, the translational or positional degree of freedom of the positioning platform 188 can rely on admittance control, while the rotational degree of freedom of the gimbal 186 is determined by impedance control.

[0068] F. Navigation and Control. Traditional endoscopy may involve the use of fluoroscopy (e.g., as may be delivered through a C-arm) and other forms of radiation-based imaging modalities to provide intraluminal guidance to the operator-physician. In contrast, the robotic system contemplated by the present disclosure may provide non-radiation-based navigation and localization means to reduce the physician's exposure to radiation and reduce the amount of equipment in the operating room. As used herein, the term "localization" may refer to determining and / or monitoring the position of an object in a reference coordinate system. Techniques such as preoperative mapping, computer vision, real-time EM tracking, and robot command data may be used individually or in combination to achieve a radiation-free surgical environment. In other cases where radiation-based imaging modalities are still used, preoperative mapping, computer vision, real-time EM tracking, and robot command data may be used individually or in combination to improve information available only through radiation-based imaging modalities.

[0069] FIG. 20 is a block diagram illustrating a localization system 90 for estimating the position of one or more elements of a robotic system, such as the location of an instrument, according to an exemplary embodiment. The localization system 90 may be a set of one or more computing devices configured to execute one or more instructions. The computing devices may be embodied by a processor (or processors) and computer readable memory in one or more of the components discussed above. By way of example, and not limitation, the computing devices may be in the tower 30 shown in FIG. 1, the cart shown in FIGS. 1-4, or the bed shown in FIGS. 5-14.

[0070] 20, the localization system 90 may include a localization module 95 that processes the input data 91-94 to generate position data 96 of the distal tip of the medical instrument. The position data 96 may be data or logic that represents the location and / or orientation of the distal tip of the instrument relative to a frame of reference. The frame of reference may be relative to the patient's anatomy or relative to a known object such as an EM field generator (see discussion of EM field generators below).

[0071] The various input data 91-94 will now be described in more detail. Pre-operative mapping can be accomplished through the use of acquisition of low-dose CT scans. The pre-operative CT scans are reconstructed into three-dimensional images that are visualized, for example, as cutaway "slices" of the patient's internal anatomy. When analyzed as a whole, image-based models can be developed that cover the anatomical cavities, anatomical spaces, and anatomical structures of the patient's anatomy, such as the patient's pulmonary network. Techniques such as centerline geometry can be determined and approximated from the CT images to create a three-dimensional volume of the patient's anatomy, referred to as model data 91 (also referred to as "pre-operative model data" when developed using only pre-operative CT scans). The use of centerline geometry is discussed in U.S. Patent Application Serial No. 14 / 523,760, the contents of which are incorporated herein in their entirety. Network topological models can also be derived from CT images and are particularly suited for bronchoscopy.

[0072] In some embodiments, the instrument may be equipped with a camera to provide visual data 92. A localization module 95 may process the visual data to enable one or more vision-based location tracking. For example, pre-operative model data may be used in conjunction with the visual data 92 to enable computer vision-based tracking of a medical instrument (e.g., an endoscope, or an instrument advancing through a working channel of the endoscope). For example, using the pre-operative model data 91, the robotic system may generate a model-based predicted endoscopic image library based on the expected path of travel of the endoscope, with each image linked to a location in the model. During surgery, this library may be referenced by the robotic system to compare real-time images captured by a camera (e.g., a camera at the distal end of the endoscope) to those in the image library to aid in localization.

[0073] Other computer vision based tracking techniques use feature tracking to determine the motion of the camera and therefore the endoscope. Some features of the localization module 95 may identify a circular geometry in the pre-operative model data 91 that corresponds to an anatomical lumen and track changes in that geometry to ascertain which anatomical lumen has been selected and the relative rotational and / or translational motion of the camera. The use of a phase map may further enhance vision-based algorithms or techniques.

[0074] Optical flow, another computer vision based technique, may analyze the displacement and translation of image pixels in a video sequence in the visual data 92 to infer camera movement. Examples of optical flow techniques may include motion detection, object segmentation computations, luminance, motion compensated coding, stereo disparity measurements, etc. By comparing multiple frames over multiple iterations, the movement and location of the camera (and therefore the endoscope) may be determined.

[0075] The localization module 95 may use real-time EM tracking to generate a real-time position of the endoscope in a global coordinate system that may be registered to the patient's anatomy represented by the pre-operative model. In EM tracking, an EM sensor (or tracker), consisting of one or more sensor coils embedded in a medical instrument (e.g., an endoscopic instrument) at one or more locations and orientations, measures the variations in the EM field produced by one or more static EM field generators positioned at known locations. The location information detected by the EM sensor is stored as EM data 93. The EM field generator (or transmitter) may be placed near the patient to produce a low-intensity magnetic field that the embedded sensor can detect. The magnetic field induces a small current in the sensor coil of the EM sensor, which may be analyzed to determine the spacing and angle between the EM sensor and the EM field generator. These spacings and orientations may be "registered" intraoperatively to the patient's anatomy (e.g., the pre-operative model) to ascertain a geometric transformation that aligns only one location in the coordinate system with a location in the pre-operative model of the patient's anatomy. Once registered, an EM tracker embedded at one or more locations on the medical instrument (e.g., the distal tip of an endoscope) can provide a real-time indication of the medical instrument's progression through the patient's anatomy.

[0076] The robotic commands and kinematic data 94 may also be used by a localization module 95 to provide localization data 96 for the robotic system. During pre-operative calibration, the device pitch and yaw resulting from the articulation commands may be determined. Intra-operatively, these calibration measurements may be used in combination with known insertion depth information to estimate the position of the instrument. Alternatively, these calculations may be analyzed in combination with EM, vision, and / or phase modeling to estimate the position of the medical instrument within the network.

[0077] As Fig. 20 illustrates, several other input data can be used by the localization module 95. For example, although not shown in Fig. 20, an instrument that utilizes shape sensing fibers can provide shape data that the localization module 95 can use to ascertain the position and shape of the instrument.

[0078] The localization module 95 may use a combination of the input data 91-94. In some cases, such a combination may use a probabilistic approach in which the localization module 95 assigns a confidence weight to the location determined from each of the input data 91-94. Thus, if the EM data is unreliable (such as in the presence of EM interference), which may reduce the reliability of the location confirmed by the EM data 93, the localization module 95 may rely more heavily on the vision data 92 and / or the robot command and kinematics data 94.

[0079] As discussed above, the robotic systems discussed herein can be designed to incorporate one or a combination of two or more of the above-mentioned techniques. The computer-based control system of the tower, bed, and / or cart-based robotic system may store, for example in a non-transitory computer-readable storage medium, such as a persistent magnetic storage drive, solid-state drive, etc., computer program instructions that, when executed, cause the system to receive and analyze sensor data and user commands, generate system-wide control signals, and display navigation and localization data, such as instrument position within a global coordinate system, anatomical maps, etc.

[0080] 2. Vibration damping Some embodiments of the present disclosure include systems and methods related to surgical systems, and more particularly, systems and methods that may be configured to minimize or reduce vibrations and / or dynamic instability in surgical robotic systems.

[0081] The surgical system disclosed herein may overcome one or more challenges found with certain conventional robotic joints and surgical systems. FIG. 21 shows a perspective view of a surgical system 200. Referring to FIG. 21, the surgical system 200 utilizes one or more robotic arms 201 to perform a surgical procedure. In the illustrated example, each robotic arm 201 may include an end effector 210 for interacting with a patient or otherwise performing a clinical function. The robotic arm 201 may move or otherwise manipulate the end effector 210 by moving one or more links 202 of the robotic arm 201. The links 202 of the robotic arm 201 may be coupled together by one or more joints 204a, 204b that allow movement between the links 202. During operation, the joints 204a, 204b may be moved or otherwise positioned by actuators. In some embodiments, the surgical system 200 can include a harmonic drive mechanism to provide a desired gear ratio or otherwise increase the torque provided by the actuator.

[0082] In some applications, movement of one or more robotic arms 201 of the surgical system 200 can cause excitation of the robotic arm 201 and induce vibrations in the surgical system 200. Additionally, in some embodiments, a harmonic drive mechanism (e.g., a harmonic drive flexspline) can introduce compliance into the joints 204a, 204b of the robotic arm 201.

[0083] In some applications, compliance from the harmonic drive mechanism, the inertia of the input and output sides of each joint 204a, 204b, and / or the mass and flexibility of other components of the surgical system 200 may contribute to vibration modes (e.g., sway and roll modes) at the pose natural frequencies at the system level. In some configurations, the flexibility of the harmonic drive mechanism may contribute a significant amount of vibration to the overall system vibration. Additionally, in some applications, harmonic drive friction and / or misalignment may result in torsional vibrations that may also contribute to the overall system vibration.

[0084] According to some embodiments disclosed herein, there are the following realizations. First, vibrations in the surgical system can cause crosstalk, robotic arm wobble, and / or errors in following or tracking a desired end effector or surgical tool tip trajectory. As a result, in some applications, vibrations and / or dynamic instability in the surgical system may prevent safe and effective teleoperation. Furthermore, certain surgical systems may utilize robotic arms with high natural frequencies to reduce vibrations. However, in certain applications, fast and aggressive tool trajectories commanded by the clinician may still excite system modes, leading to tracking errors and crosstalk. Thus, advantageously, the surgical system 200 may utilize one or more devices, systems, and / or methods to reduce or dampen vibrations and improve the dynamic stability of the surgical system 200.

[0085] Advantageously, some embodiments of the surgical system 200 may utilize one or more devices, systems, and / or methods for reducing or damping vibrations to improve the dynamic stability of the surgical system 200. In some embodiments, the surgical system 200 may implement a method or control system for reducing vibrations in the surgical system 200. In some embodiments, the surgical system 200 may implement dampers coupled to or otherwise associated with the respective joints 204a, 204b and / or the end effector 210. For example, the surgical system 200 may implement a damper coupled to the revolute joint 204a. The dampers acting on or otherwise associated with the revolute joint 204a may include, but are not limited to, a torsional vibration damper, a centrifugal pendulum type absorber, and / or a squeeze film damper. Additionally, the surgical system 200 may implement a damper coupled to the linear guide joint 204b. In some embodiments, a roller rail unit damper may be used to control vibrations relative to the linear guide joint 204b. Additionally, the surgical system 200 may implement a damper coupled to the end effector 210. In some embodiments, a translational viscous damper may be used to control vibrations relative to the end effector 210.

[0086] 22 is a flow chart illustrating a method 300 for reducing vibrations in a surgical system 200. With reference to FIGS. 21 and 22, the method 300 can reduce vibrations in the surgical system 200 by controlling the movement of the robotic arm 201. As described herein, the method 300 can enable reducing the speed of the tool tip or end effector 210 to minimize vibrations at certain frequencies. In some embodiments, the method 300 can be implemented by a computer system, controller, control system, or other hardware device associated with the surgical system 200. Optionally, the method 300 can be implemented by hardware devices utilized for other functions of the surgical system 200.

[0087] A method 300 for reducing vibration in a surgical system 200 is initiated at step 302. The method 300 may be initiated by a clinician or automatically during operation of the surgical system 200.

[0088] After advancing to the next time step in step 304, vibration data for the surgical system 200 may be acquired in step 306. The vibration data may be acquired from a sensor coupled to the robotic arm 201 or another portion of the surgical system. In some embodiments, the sensor may be coupled to the proximal link 202 of the robotic arm 201. Optionally, the sensor may be coupled to the end effector 210 of the robotic arm 201. The sensor may include an accelerometer, a strain gauge, or any other suitable sensor that provides vibration data for the surgical system 200.

[0089] At step 308, the vibration data from the sensor may be processed for analysis. For example, the vibration data may be processed to identify frequency components of the vibration data. In some applications, the frequency components of the vibration data may be compared to a range of expected natural frequencies for the surgical system 200. The natural frequency of the surgical system 200 may be observed, calculated, or estimated based on the materials, geometry, and / or construction of the elements of the surgical system 200. In some embodiments, the natural frequency of the surgical system 200 is expected to be 10 Hz or greater. Optionally, the amplitude of the vibration data may also be analyzed.

[0090] In step 310, the frequency content of the vibration data is compared to a predefined threshold. In some embodiments, the amplitude of a particular frequency of the vibration data is compared to a predefined threshold. If the frequency content of the vibration data exceeds the predefined threshold, in step 312, the magnitude of the velocity of the tool tip or end effector 210 may be reduced to dampen or minimize the vibration. In some embodiments, the magnitude of the velocity of the end effector 210 may be reduced for a period of time until the amplitude of the particular frequency of the vibration data falls below the predefined threshold. Optionally, the velocity of the end effector 210 may be reduced in magnitude until the amplitude of the particular frequency of the vibration data falls below the predefined threshold. In some embodiments, if the frequency content of the vibration data is expected to exceed the predefined threshold, the method 300 may preemptively reduce the magnitude of the velocity of the end effector 210 to avoid vibration. In some applications, the velocity of the end effector 210 may be controlled by controlling the movement of the joints 204, 204b of the respective robotic arm 201.

[0091] Alternatively, if the frequency content of the vibration data is less than the defined threshold during the comparison of step 310, the surgical system 200 may continue operation without reducing the speed of the end effector 210. Optionally, the threshold used for the comparison may be based on the characteristics of the surgical system 200 and / or the procedure or operating parameters of the surgical system 200. For example, the method 300 may utilize a lower amplitude threshold for a surgical system 200 or procedure that requires lower vibration tolerance and where a lower end effector 210 speed is acceptable. In some applications, the method 300 may utilize a higher amplitude threshold for a surgical system or procedure that can withstand a greater amount of vibration and can benefit from a higher end effector 210 speed. In some embodiments, the threshold may be adjusted based on the operating parameters and / or clinician input.

[0092] After determining whether the method 300 is complete at step 314, the method 300 may repeat for the next time step at step 304 or may end at step 316.

[0093] Figure 23 is a schematic diagram of the revolute joint 204a of the surgical system 200. With reference to Figures 21 and 23, the revolute joint 204a can include a vibration damper 410 to reduce vibrations of the robotic arm 201 and / or the surgical system 200. In the illustrated example, the vibration damper 410 is coupled to other components of the revolute joint 204a.

[0094] As described herein, the revolute joint 204a can enable rotation between the links 202 of the robotic arm 201. In the illustrated example, a rotor 402 coupled to the first link 202 can provide a rotational force or torque to move, rotate, or otherwise actuate the output or second link 202. In some embodiments, the revolute joint 204a can include a harmonic drive mechanism 404 to multiply and deliver torque from the rotor 402 to the output link 202 at a desired gear ratio.

[0095] In the illustrated example, the vibration damper 410 may be coupled to an output of the harmonic drive mechanism 404. In some embodiments, the vibration damper 410 is bolted to the output of the harmonic drive mechanism 404 using a bolted connection 408. Optionally, the revolute joint 204a may include an adapter flange 406 disposed between the output of the harmonic drive mechanism 404 and the vibration damper 410 to facilitate a connection (e.g., the bolted connection 408) between the harmonic drive mechanism 404 and the vibration damper 410.

[0096] In the illustrated example, the vibration damper 410 can damp vibrations while transmitting torque from the rotor 402 to the second link 202. Thus, the vibration damper 410 can be coupled to the second link 202 to damp vibrations between the rotor 402 and the second link 202. In applications that include a harmonic drive mechanism 404, the vibration damper 410 can damp vibrations between the harmonic drive mechanism 404 and the second link 202. In some embodiments, the vibration damper 410 is bolted to the second link 202 by a bolt connection 408.

[0097] In some embodiments, one or more revolute joints 204a of the surgical system 200 may include a vibration damper 410. For example, the distal revolute joint 204a of the robotic arm 201 may include a vibration damper 410. As can be appreciated, any suitable revolute joint 204a may include a vibration damper 410. Further examples of various joints are described in U.S. Pat. No. 10,661,453, which is incorporated herein by reference in its entirety. As can be appreciated, any joint described in U.S. Pat. No. 10,661,453 may include a vibration damper configured in accordance with the present disclosure. For example, a joint connected to a parallelogram link or a four-bar link as described in U.S. Pat. No. 10,661,453 may include a vibration damper as described herein. As described herein, the vibration damper 410 may be any suitable type of vibration damper, including, but not limited to, a torsional vibration damper 510, a centrifugal pendulum type absorber 610, or a squeeze film damper assembly 710a, 710b.

[0098] 24 is a perspective view of the torsional vibration damper 510. As described herein, the torsional vibration damper 510 can dampen vibrations of a component, such as the revolute joint 204a, or more generally the robotic arm 201 and / or surgical system 200, to which the torsional vibration damper 510 is attached.

[0099] In operation, the torsional vibration damper 510 can transfer torque between a rotational input and a rotational output while damping vibrations. As shown, the rotational input can be coupled to an outer housing 520 of the torsional vibration damper 510. In some embodiments, the rotational input can be bolted to the outer housing 520 via bolt holes 522. In some applications, the rotational input can include the rotor 402 or harmonic drive mechanism 404 of the rotary joint 204a. The outer housing 520 can be formed from steel.

[0100] In the illustrated example, the rotational output may be coupled to a disk or flywheel 530 disposed within the outer housing 520. In some embodiments, the rotational output may be bolted to the flywheel 530 via bolt holes 532. In some applications, the rotational output may include the second link 202 of the rotary joint 204a.

[0101] In the illustrated example, the torsional vibration damper 510 allows for the transfer of torque between the outer housing 520 and the flywheel 530 while dissipating vibration energy into heat. As shown, the flywheel 530 is disposed within a cavity 550 defined by the outer housing 520, allowing the flywheel 530 to move relative to the outer housing 520. During operation, the inertia of the flywheel 530 within the cavity 550 can dissipate vibrations. Additionally, the inertia of the flywheel 530 can be configured to provide the desired vibration damping at frequencies of interest.

[0102] In some embodiments, the torsional vibration damper 510 may utilize fluid resistance to dissipate vibrations. As shown, the flywheel 530 is disposed in a fluid reservoir 540 within a cavity 550 of the outer housing 520 to resist movement of the flywheel 530 and / or dissipate vibrations. In some embodiments, the fluid in the fluid reservoir 540 may be a viscous fluid, such as silicone. Additionally, the viscosity / formulation of the fluid in the fluid reservoir 540 may be configured to provide a desired damping coefficient and / or desired vibration damping at frequencies of interest. For example, a thicker or more viscous fluid in the fluid reservoir 540 may resist more movement or vibration of the flywheel 530 compared to a thinner or less viscous fluid.

[0103] Optionally, the fluid in fluid reservoir 540 may include a magnetorheological (MR) fluid. As described herein, the viscosity or damping coefficient of the MR fluid may be altered by an electrical control signal to variably adjust or tune the vibration damping of torsional vibration damper 510.

[0104] Figure 25 is a cross-sectional perspective view of an embodiment of a centrifugal pendulum absorber 610. Figure 26 is a schematic diagram of the centrifugal pendulum absorber 610. With reference to Figures 25 and 26, the centrifugal pendulum absorber 610 can dampen vibrations of a component to which it is attached, such as the revolute joint 204a, or more generally the robotic arm 201 and / or the surgical system 200.

[0105] In operation, the centrifugal pendulum absorber 610 can transfer torque between a rotational input and a rotational output while damping vibrations. As shown, the rotational input can be coupled to an outer housing 620 of the centrifugal pendulum absorber 610. In some applications, the rotational input can include the rotor 402 or the harmonic drive mechanism 404 of the revolute joint 204a. In the illustrated example, the rotational output can be coupled to an inner disk 630 disposed within the outer housing 620. In some applications, the rotational output can include the second link 202 of the revolute joint 204a.

[0106] In the illustrated example, the centrifugal pendulum absorber 610 absorbs vibration energy while allowing torque transmission between the outer housing 620 and the inner disk 630. Advantageously, by absorbing vibration energy, the centrifugal pendulum absorber 610 can minimize power dissipation from motors or actuators in the surgical system 200.

[0107] As shown, the inner disc 630 is disposed within a cavity 650 defined by the outer housing 620, allowing the inner disc 630 to move relative to the outer housing 620. During operation, one or more tuned pendulums 640 coupled to the inner disc 630 can absorb or dampen vibrations. In some embodiments, the pendulums 640 are positioned at various positions along the inner disc 630.

[0108] In the illustrated example, each pendulum 640 can include a mass 644 coupled to the inner disk 630 by a spring 642. In some embodiments, the mass 644 can be integral with the mass of the spring 642. During operation, movement of the inner disk 630 can cause the mass 644 of each pendulum 640 to oscillate relative to the spring 642 to absorb vibration energy.

[0109] FIG. 27 is a chart showing vibration frequency compared to rotor speed of the centrifugal pendulum absorber 610. With reference to FIGS. 25-27, the pendulum 640 can be configured to provide the desired vibration damping at the frequencies of interest. In some embodiments, parameters or aspects of the tuned pendulum 640 can be configured to provide the desired vibration damping at the frequencies of interest. For example, the mass 644, the length of the spring 642, the stiffness of the spring 642, and / or the radial position of the pendulum 640 relative to the inner disk 630 can be selected or tuned to provide the desired vibration damping at the frequencies of interest.

[0110] For example, as shown in FIG. 27, parameters or aspects of the tuned pendulum 640 can be configured to provide increased vibration damping corresponding to torsional excitation orders, such as second, fourth, or other orders. This is illustrated in FIG. 27 by the pair of dashed lines associated with the second and fourth orders, as indicated by the arrows in FIG. 27. In some applications, the second torsional excitation may be caused by friction or misalignment of the harmonic drive mechanism. Advantageously, the use of the centrifugal pendulum absorber 610 can effectively reduce the amplitude of the second torsional vibration from the harmonic drive mechanism.

[0111] Figure 28 is a cross-sectional front view of the squeeze film damper assembly 710a. Figure 29 is a cross-sectional side view of the squeeze film damper assembly 710a. With reference to Figures 28 and 29, the squeeze film damper assembly 710a can damp vibrations of a component, such as the revolute joint 204a, or more generally, the robotic arm 201 and / or surgical system 200, to which the squeeze film damper assembly 710a is attached.

[0112] In operation, the squeeze film damper assembly 710a can transmit torque between a rotational input and a rotational output while damping vibrations. As shown, the rotational input can be coupled to a first end 722 of a shaft 720 of the squeeze film damper assembly 710a. In some applications, the rotational input can include a rotor 402 or a harmonic drive mechanism 404 of the revolute joint 204a. In the illustrated example, the rotational output can be coupled to a second end 724 of the shaft 720. In some applications, the rotational output can include a second link 202 of the revolute joint 204a. As shown, the shaft 720 can be supported by roller bearings 726 to enable the transmission of torque across the shaft 720.

[0113] In the illustrated example, the squeeze film damper assembly 710a allows for the transmission of torque across the shaft 720 while dissipating vibration energy. As illustrated, the squeeze film damper 741 can utilize pressurization or squeezing of a viscous fluid 740 within a film clearance 750 to dissipate vibration. As illustrated, the squeeze film damper 741 can define a film clearance 750 between an inner ring 752 and an outer ring 754. In some embodiments, the inner ring 752 can be disposed about the shaft 720 and / or the roller bearing 726. Optionally, the inner ring 752 can be coupled to the shaft 720 and / or other elements of the revolute joint 204a, such as the harmonic drive mechanism 404 and / or the output link 202. As illustrated, the film clearance 750 can be sealed within one or more elastomeric O-rings 760.

[0114] During operation, pressurized viscous fluid 740 within film clearance 750 can absorb or damp vibrations of shaft 720 via inner ring 752. In some embodiments, viscous fluid 740 can be a lubricant or oil. Viscous fluid 740 can be supplied by a pressurized supply groove. Additionally, the viscosity / formulation of viscous fluid 740 can be configured to provide a desired damping coefficient and / or desired vibration damping at frequencies of interest. For example, a thicker or more viscous fluid 740 can resist movement or vibration of shaft 720 compared to a thinner or less viscous fluid.

[0115] 28 is a cross-sectional side view of squeeze film damper assembly 710b. In the illustrated example, squeeze film damper assembly 710b may have a similar configuration to squeeze film damper assembly 710a, but may include a cross-roller bearing joint 728 in addition to squeeze film damper 741 to further damp vibrations of a component, such as revolute joint 204a, or more generally, robotic arm 201 and / or surgical system 200, to which squeeze film damper assembly 710b is attached.

[0116] Similar to the squeeze film damper assembly 710a, the squeeze film damper assembly 710b can transmit torque between a rotational input and a rotational output while damping vibrations. In the illustrated example, the shaft 720 can be supported by a cross roller bearing joint 728. In some embodiments, the cross roller bearing joint 728 can support rotation or movement from the first link 202 and the second link 202 coupled to the rotational joint 204a via the shaft 720.

[0117] In addition to the squeeze film damper 741 (shown diagrammatically in FIG. 30), the squeeze film damper assembly 710b may also utilize a cross roller bearing joint 728 to cooperate to dissipate vibration energy. In the illustrated example, the cross roller bearing joint 728 may provide stiffness and damping to dissipate vibration. In some embodiments, the cross roller bearing joint 728 and the squeeze film damper 741 may be disposed in a parallel arrangement (as shown) relative to the shaft 720. In certain embodiments, the cross roller bearing joint 728 and the squeeze film damper 741 may be disposed in a series arrangement.

[0118] Optionally, the stiffness of the cross roller bearing joint 728 can be configured to provide a desired damping coefficient and / or a desired vibration damping at a frequency of interest. Further, in some embodiments, the viscosity / formulation of the viscous fluid 740 of the squeeze film damper 741 in conjunction with the cross roller bearing joint 728 can be configured to cooperatively provide a desired damping coefficient and / or a desired vibration damping at a frequency of interest.

[0119] In some embodiments, the squeeze film damper assemblies 710a, 710b can be configured to provide modal damping (e.g., sway mode damping). Advantageously, the squeeze film damper assemblies 710a, 710b can provide significant vibration damping in a minimal packaging space.

[0120] Optionally, the viscous fluid 740 of the squeeze film damper assemblies 710a, 710b may include a magnetorheological (MR) fluid. As described herein, the viscosity or damping coefficient of the MR fluid may be altered by an electrical control signal to variably adjust or tune the vibration damping of the squeeze film dampers 741 of the squeeze film damper assemblies 710a, 710b.

[0121] In some embodiments, the vibration damping mechanisms disclosed herein can also be used with linear guide joints. For example, FIG. 31 is a schematic diagram of linear guide joint 204b. With reference to FIGS. 21 and 31, linear guide joint 204b can include a vibration damper 810 to reduce vibrations of robot arm 201 and / or surgical system 200. In the illustrated example, vibration damper 810 is coupled to other components of linear guide joint 204b.

[0122] As described herein, the linear guide joint 204b can enable translational or sliding motion between the links 202 of the robot arm 201. In the illustrated example, the carrier 820 coupled to the second link 202 can enable the second link 202 to translate relative to the first link 202. In the illustrated example, the carrier 820 is translationally coupled to a rail, track, or linear guide 802 to enable the carrier 820 to translate relative to the linear guide 802. As shown, the linear guide 802 is coupled to the first link 202. The carrier 820 can utilize an actuator to move the carrier 820 relative to the linear guide 802. In some embodiments, the carrier 820 and / or the linear guide 802 can include rollers or low friction surfaces to facilitate translation of the carrier 820 relative to the linear guide 802.

[0123] In the illustrated example, the vibration damper 810 may be disposed between the linear guide 802 and the carrier 820. In some embodiments, the vibration damper 810 is attached or otherwise coupled to the carrier 820.

[0124] In the illustrated example, the vibration damper 810 can dampen vibrations while allowing translation between the carrier 820 and the linear guide 802. Thus, the vibration damper 810 can be coupled to the second link 202 to dampen vibrations between the first link 202 and the second link 202. In some embodiments, one or more of the linear guide joints 204b of the surgical system 200 can include the vibration damper 810.

[0125] FIG. 32 is a perspective view of the linear guide joint 204b. FIG. 33 is a cross-sectional front view of the linear guide joint 204b. With reference to FIGS. 31-33, the vibration damper 810 can damp vibrations of the linear guide joint 204b, or more generally, the component to which the vibration damper 810 is attached, such as the robot arm 201 and / or the surgical system 200. In some embodiments, the vibration damper 810 can be referred to as a roller rail unit damping system. Advantageously, the vibration damper 810 described herein can enable significant damping forces in a relatively small package.

[0126] In the illustrated example, the vibration damper 810 allows translational motion of the carrier 820 relative to the linear guide 802 while dissipating vibrations. In some embodiments, the vibration damper 810 includes solid damping material attached, bonded, or otherwise disposed along an inner surface 822 of the carrier 820. During operation, the resiliency and mass of the damping material of the vibration damper 810 can absorb or dissipate vibrations. In some embodiments, the damping material of the vibration damper 810 is rubber. Optionally, the material, mass, and distribution of the damping material can be configured to provide the desired vibration damping at frequencies of interest.

[0127] In some embodiments, the vibration damper 810 can utilize a viscous fluid 840 within a fluid cavity 850 to dissipate vibrations. As shown, one or more fluid cavities 850 can be disposed along an inner surface 822 of the carrier 820 adjacent to the linear guide 802. During operation, the viscous fluid 840 disposed within the fluid cavity 850 can absorb or dampen vibrations of the carrier 820 and / or the linear guide 802.

[0128] In some embodiments, the viscous fluid 840 may be supplied to the fluid cavity 850 via a supply port 853. Additionally, the viscous fluid 840 may be removed or aspirated from the fluid cavity 850 via a suction port 855. The vibration damper 810 may include a choke that controls the flow of the viscous fluid 840 through the vibration damper 810. Optionally, the viscous fluid 840 in the fluid cavity 850 may be pressurized.

[0129] In some embodiments, the viscous fluid 840 can be an oil. Additionally, the viscosity / formulation of the viscous fluid 840 can be configured to provide a desired damping coefficient and / or desired vibration damping at frequencies of interest. For example, a thicker or more viscous fluid 840 can resist movement or vibration of the linear guide 802 and / or carrier 820 compared to a thinner or less viscous fluid.

[0130] Optionally, the viscous fluid 840 may include a magnetorheological (MR) fluid. As described herein, the viscosity or damping coefficient of the MR fluid may be altered by an electrical control signal to variably adjust or tune the vibration damping of the vibration damper 810.

[0131] 34 is a chart showing acceleration compared to time for a vibration guide or linear guide joint 204b. Referring to FIG. 34, the use of a vibration damper 810 reduces the amplitude and transmission of vibrations at specific frequencies of interest. For example, the use of a vibration damper 810 significantly reduces the amplitude and transmission of vibrations when comparing the transmission behavior 864 of a linear guide joint 204b utilizing a vibration damper 810 to the transmission behavior 862 of a linear guide joint without a vibration damper.

[0132] Figure 35 is a cross-sectional side view illustrating an embodiment of the end effector 210. With reference to Figures 21 and 35, the end effector 210 can include a vibration damper 910 to reduce vibrations in the end effector 210, the robotic arm 201, and / or the surgical system 200. In the illustrated example, the vibration damper 910 is coupled to other components of the end effector 210.

[0133] As described herein, the end effector 210 can move or manipulate an elongated tool shaft 216 to perform a surgical procedure, manipulate a patient, or otherwise interact with a patient. In the illustrated example, the elongated tool shaft 216 is coupled to an advanced device manipulator (ADM) 212 that can move the elongated tool shaft 216 relative to the end effector 210. In some embodiments, the elongated tool shaft 216 can be directed into the patient via a cannula 214 coupled to the ADM 212.

[0134] In the illustrated example, the vibration damper 910 is coupled to the elongated tool shaft 216 to prevent vibration of the tool shaft 216 and the end effector 210. In some embodiments, the vibration damper 910 can be a translational viscous damper. The translational viscous damper can damp vibrations resulting from insertion axis backlash and tool vibrations. Advantageously, the vibration dampers 910 described herein can enable significant damping forces in a relatively small package.

[0135] In some embodiments, the vibration damper 910 can utilize fluid resistance to dissipate vibrations. As shown, the elongated tool shaft 216 is coupled to a piston 930 disposed in a fluid reservoir 940 within a cavity 950 of the vibration damper 910. During operation, the resistance of the fluid reservoir 940 against the piston 930 can dissipate vibrations of the elongated tool shaft 216 and / or the piston 930. In the illustrated example, the piston 930 can include one or more orifices 932 to allow for fluid flow through the piston 930 and to adjust the damping rate of the vibration damper 910. In some applications, the size and / or number of orifices 932 of the piston 930 can be configured to provide a desired damping coefficient and / or desired vibration damping at a frequency of interest. For example, a larger or more number of orifices 932 can allow for movement or vibration compared to a smaller or fewer orifices 932.

[0136] In some embodiments, the fluid in fluid bath 940 can be a viscous fluid, such as oil. Additionally, the viscosity / formulation of the fluid in fluid bath 940 can be configured to provide a desired damping coefficient and / or desired vibration damping at frequencies of interest. For example, a thicker or more viscous fluid in fluid bath 940 may resist more movement or vibration of piston 930 compared to a thinner or less viscous fluid.

[0137] Optionally, the fluid bath 940 may contain a magnetorheological (MR) fluid. As described herein, the viscosity or damping coefficient of the MR fluid may be altered by an electrical control signal to variably adjust or tune the vibration damping of the vibration damper 910.

[0138] FIG. 36 is a flow chart illustrating a method 1000 for reducing vibrations in the surgical system 200. In the illustrated example, the method 1000 can reduce vibrations in the surgical system 200 by controlling the viscosity or damping coefficient of the damper. In some embodiments, the method 1000 can control the viscosity or damping coefficient of a magnetorheological (MR) fluid disposed in the damper. In some applications, the damping coefficient of the MR fluid can be variably tuned using an electrical control signal. The method 1000 described herein can be utilized with any suitable damper, including, but not limited to, the torsional vibration damper 510, the squeeze film damper assemblies 710a, 710b, the vibration damper 810, and / or the vibration damper 910. In some embodiments, the method 1000 can be implemented by a computer system, controller, control system, or other hardware device associated with the surgical system 200. Optionally, the method 1000 can be implemented by hardware devices utilized for other functions of the surgical system 200.

[0139] In step 1002, a method 1000 for reducing vibration in a surgical system 200 is initiated. The method 1000 may be initiated by a clinician or automatically during operation of the surgical system 200.

[0140] After advancing to the next time step in step 1004, vibration data for the surgical system 200 may be acquired in step 1006. The vibration data may be acquired from a sensor coupled to the robotic arm 201 or another portion of the surgical system. In some embodiments, the sensor may be coupled to the proximal link 202 of the robotic arm 201. Optionally, the sensor may be coupled to the end effector 210 of the robotic arm 201. The sensor may include an accelerometer, a strain gauge, or any other suitable sensor that provides vibration data for the surgical system 200.

[0141] At step 1008, the vibration data from the sensor may be processed for analysis. For example, the vibration data may be processed to identify frequency components of the vibration data. In some applications, the frequency components of the vibration data may be compared to a range of expected natural frequencies for the surgical system 200. The natural frequency of the surgical system 200 may be observed, calculated, or estimated based on the materials, geometry, and / or construction of the elements of the surgical system 200. In some embodiments, the natural frequency of the surgical system 200 is expected to be 10 Hz or greater. Optionally, the amplitude of the vibration data may also be analyzed.

[0142] In step 1010, the frequency content of the vibration data is compared to a predefined threshold. In some embodiments, the amplitude of a particular frequency of the vibration data is compared to a predefined threshold. If the frequency content of the vibration data exceeds the predefined threshold, in step 1012, the damping coefficient of the MR fluid can be increased to dampen or minimize the vibration. In some embodiments, the damping coefficient of the MR fluid can be increased for a period of time until the amplitude of the particular frequency of the vibration data falls below the predefined threshold. Optionally, the damping coefficient of the MR fluid can be increased until the amplitude of the particular frequency of the vibration data falls below the predefined threshold. In some embodiments, if the frequency content of the vibration data is expected to exceed the predefined threshold, the method 300 may preemptively increase the damping coefficient of the MR fluid to avoid the vibration. In some applications, the damping coefficient of the MR fluid can be controlled in one or more dampers.

[0143] Alternatively, if the frequency content of the vibration data during the comparison of step 1010 is below a defined threshold, the surgical system 200 may continue to operate without increasing the damping coefficient of the MR fluid. Optionally, the threshold used for the comparison may be based on characteristics of the surgical system 200 and / or the procedure or operating parameters of the surgical system 200. For example, the method 1000 may utilize a lower amplitude threshold for a surgical system 200 or procedure that requires lower vibration tolerance. In some applications, the method 300 may utilize a higher amplitude threshold for a surgical system or procedure that can withstand a greater amount of vibration and benefit from lower viscous energy dissipation. In some embodiments, the threshold may be adjusted based on the operating parameters and / or clinician input.

[0144] After determining whether the method 1000 is complete in step 1014, the method 300 may repeat for the next time step in step 1004 or may end in step 1016.

[0145] 3. Examples of subject technology as clauses Various examples of aspects of the present disclosure are described as numbered clauses (1, 2, 3, etc.) for convenience. These are provided as examples and not as limitations on the subject technology. Figure and reference number identification is provided below for example and explanation purposes only, and the clauses are not limited by those identifications.

[0146] Clause 1. A robot arm comprising: a first link; a rotary joint connecting the first link and a second link and enabling the first link to move relative to the second link, the rotary joint comprising: a rotor coupled to the first link and configured to provide a rotor torque; a harmonic drive mechanism coupled to the rotor and configured to augment the rotor torque; and a vibration damper coupled to the harmonic drive mechanism and the second link, the vibration damper enabling transfer of rotor torque from the harmonic drive mechanism to the second link and reducing vibration of the robot arm.

[0147] Clause 2. The robot arm of clause 1, wherein the rotary joint further comprises an adapter flange coupled to the harmonic drive mechanism and the vibration damper.

[0148] Clause 3. The robot arm of clause 1, wherein the vibration damper comprises a magnetorheological fluid.

[0149] Clause 4. The robotic arm of clause 3, further comprising a controller configured to detect vibration of the robotic arm, identify frequency components of the vibration within a frequency range of the robotic arm, and apply an electrical control signal to the magnetorheological fluid to modulate a damping coefficient of the vibration damper in response to the frequency components of the vibration exceeding a frequency component threshold.

[0150] Clause 5. A robot arm as described in any one of clauses 1 to 4, wherein the vibration damper comprises a torsional vibration damper, the torsional vibration damper comprising a housing coupled to the harmonic drive mechanism and the second link, a disk disposed within the housing, and a damping material disposed within the housing and surrounding the disk, the damping material being configured to resist movement of the disk.

[0151] Clause 6. The robotic arm of clause 5, wherein the damping material comprises a silicone fluid.

[0152] Clause 7. A robot arm described in any one of clauses 1 to 4, wherein the vibration damper comprises a centrifugal pendulum absorber, the centrifugal pendulum absorber comprising a damper rotor coupled to the harmonic drive mechanism and the second link, and at least one vibration mass coupled to the damper rotor.

[0153] Clause 8. A robot arm as described in any one of clauses 1 to 4, wherein the vibration damper comprises a squeeze film damper comprising an inner ring coupled to the harmonic drive mechanism and the second link, an outer ring coupled to the first link, the outer ring concentrically disposed around the inner ring and defining a film clearance between the inner ring and the outer ring, and a viscous fluid disposed within the film clearance.

[0154] Clause 9. The robot arm of clause 8, wherein the squeeze film damper further comprises a cross roller bearing coupled to the first link and the second link.

[0155] Clause 10. A linear joint for a robot arm, the linear joint comprising: a linear guide; a carrier coupled to the linear guide, the carrier being movable laterally relative to the linear guide; and a damping material disposed between the linear guide and the carrier, the damping material reducing vibrations of the robot arm.

[0156] Clause 11. The linear joint of clause 10, wherein the damping material comprises a pressurized fluid damping material.

[0157] Clause 12. The linear joint of clause 11, wherein the pressurized fluid damping material comprises a magnetorheological fluid.

[0158] Clause 13. The linear joint of clause 12, further comprising a controller configured to detect vibration of the robot arm, identify a frequency component of the vibration within a frequency range of the robot arm, and apply an electrical control signal to the magnetorheological fluid to modulate a damping coefficient of the damping material in response to the frequency component of the vibration exceeding a frequency component threshold.

[0159] Clause 14. An end effector for a robotic arm, the end effector comprising: an elongated tool shaft; a device manipulator coupled to the elongated tool shaft and configured to move the elongated tool shaft, where the elongated tool shaft passes through the device manipulator; and a vibration damper coupled to the device manipulator and the elongated tool shaft, where the vibration damper reduces vibrations of the robotic arm.

[0160] Clause 15. The end effector of clause 14, wherein the vibration damper comprises a translational viscous damper comprising a damper housing coupled to the device manipulator, a piston coupled to the elongated tool shaft and disposed within the damper housing, and a damping fluid disposed within the damper housing, the damping fluid configured to resist movement of the piston.

[0161] Clause 16. The end effector of clause 15, wherein the piston defines at least one orifice that allows damping fluid to pass through the piston at a controlled rate.

[0162] Clause 17. An end effector as described in clause 15 or 16, wherein the damping fluid comprises a magnetorheological fluid.

[0163] Clause 18. The end effector of clause 17, further comprising a controller configured to detect vibration of the robot arm, identify frequency components of the vibration within a frequency range of the robot arm, and apply an electrical control signal to the magnetorheological fluid to modulate a damping coefficient of the damper in response to the frequency components of the vibration exceeding a frequency component threshold.

[0164] Clause 19. A method of operating a robotic arm, comprising: actuating one or more joints of the robot arm to move an end effector of the robot arm at a first end effector velocity, the robot arm defining a frequency range; detecting vibration of the robot arm during actuation of the one or more joints of the robot arm; identifying frequency components of the vibration within the frequency range of the robot arm; and in response to the frequency components of the vibration exceeding a frequency component threshold, actuating one or more joints of the robot arm to move the end effector of the robot arm at a second end effector velocity to reduce vibration of the robot arm, the second end effector velocity being less than the first end effector velocity.

[0165] Clause 20. The method of clause 19, further comprising detecting vibrations of the robot arm via an accelerometer coupled to the robot arm.

[0166] Clause 21. The method of clause 20, wherein the accelerometer is coupled to a proximal link of the robot arm.

[0167] Clause 22. The method of any one of clauses 19 to 21, further comprising detecting vibrations of the robot arm via a strain gauge coupled to the robot arm.

[0168] Clause 23. The method of clause 22, wherein the strain gauge is coupled to a proximal link of the robot arm.

[0169] Clause 24. A method of operating a robot arm, the method comprising: actuating one or more joints of the robot arm to move an end effector of the robot arm at a first end effector velocity, the robot arm defining a frequency range; detecting vibration of the robot arm during actuation of the one or more joints of the robot arm; identifying frequency components of the vibration within the frequency range of the robot arm; and in response to the frequency components of the vibration exceeding a frequency component threshold, modulating a damping coefficient of a damper coupled to the robot arm to reduce the vibration of the robot arm.

[0170] Clause 25. The method of clause 24, wherein the damper comprises a magnetorheological fluid.

[0171] Clause 26. The method of clause 25, further comprising applying an electrical control signal to the magnetorheological fluid to modulate a damping coefficient of the damper.

[0172] Clause 27. The method of any one of clauses 24 to 26, wherein the damper is coupled to the revolute joint.

[0173] Clause 28. The method of clause 27, wherein the damper is selected from the group consisting of a torsional vibration damper, a centrifugal pendulum absorber, and a squeeze film damper.

[0174] Clause 29. The method of any one of clauses 24 to 26, wherein the damper is coupled to a linear joint.

[0175] Clause 30. The method of clause 29, wherein the damper comprises a roller rail unit damper.

[0176] Clause 31. The method of any one of clauses 24 to 26, wherein the damper is coupled to the end effector.

[0177] Clause 32. The method of clause 31, wherein the damper comprises a translational viscous damper.

[0178] Clause 33. A non-transitory machine-readable storage medium comprising executable instructions which, when executed by a data processing system, cause the data processing system to perform a method, the method including: detecting vibration of a robot arm during movement of an end effector; calculating a frequency range of the robot arm; identifying frequency components of the vibration within the frequency range of the robot arm; and, in response to the frequency components of the vibration exceeding a frequency component threshold, reducing the vibration of the robot arm.

[0179] Clause 34. The method of clause 33, wherein reducing vibration of the robot arm includes reducing a velocity of the end effector during movement of the end effector.

[0180] Clause 35. The method of clause 33, wherein reducing vibration of the robot arm includes increasing a damping coefficient of a damper coupled to the robot arm.

[0181] 4. Implementation Systems and Terminology. Implementations disclosed herein provide systems, methods and devices for operatively coupling an obturator and a cannula.

[0182] It should be noted that, as used herein, the terms "couple," "coupled," "coupled," or other variations of the word coupled, may indicate either an indirect connection or a direct connection. For example, when a first component is "coupled" to a second component, the first component may be either indirectly connected to the second component through another component, or directly connected to the second component.

[0183] The methods disclosed herein include one or more steps or actions for achieving the described method. The method steps and / or actions may be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is required for the proper operation of the described method, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims.

[0184] As used herein, the term "plurality" refers to two or more. For example, a plurality of components refers to two or more components. The term "determining" covers a wide variety of acts, and thus "determining" can include calculating, computing, processing, deriving, investigating, looking up (e.g., consulting a table, database, or another data structure), ascertaining, and the like. Also, "determining" can include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory), and the like. Also, "determining" can include resolving, selecting, electing, establishing, and the like.

[0185] The phrase "based on" does not mean "based only on," unless expressly specified otherwise. In other words, the phrase "based on" refers to both "based only on" and "based at least on."

[0186] The foregoing description of the disclosed implementations is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these implementations will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other implementations without departing from the scope of the present invention. For example, those skilled in the art will recognize that many corresponding alternatives, equivalent structural details, such as similar manners of fastening, mounting, coupling, or engaging tool components, equivalent mechanisms for producing specific actuation motions, and equivalent mechanisms for delivering electrical energy, may be employed. Thus, the present invention is not intended to be limited to the implementations shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0187] [Embodiment] (1) A robot arm, The first link, The second link, a rotational joint connecting the first link and the second link and allowing the first link to move relative to the second link, the rotational joint comprising: a rotor coupled to the first link and configured to provide a rotor torque; a harmonic drive mechanism coupled to the rotor and configured to increase the rotor torque; a vibration damper coupled to the harmonic drive mechanism and the second link, the vibration damper enabling transfer of the rotor torque from the harmonic drive mechanism to the second link and reducing vibration of the robot arm. (2) A robot arm as described in embodiment 1, wherein the rotary joint further comprises an adapter flange coupled to the harmonic drive mechanism and the vibration damper. (3) A robot arm as described in embodiment 1, wherein the vibration damper comprises a magnetorheological fluid. (4) detecting vibrations of the robot arm; Identifying frequency components of the vibration within a frequency range of the robot arm; 4. The robot arm of embodiment 3, further comprising a controller configured to apply an electrical control signal to the magnetorheological fluid to modulate a damping coefficient of the vibration damper in response to the frequency component of the vibration exceeding a frequency component threshold. (5) The vibration damper includes a torsional vibration damper, a housing coupled to the harmonic drive mechanism and the second link; a disk disposed within the housing; A robot arm as described in any of embodiments 1 to 4, comprising a damping material disposed within the housing and surrounding the disk, the damping material being configured to resist movement of the disk.

[0188] (6) The robot arm of embodiment 5, wherein the damping material comprises a silicone fluid. (7) The vibration damper includes a centrifugal pendulum absorber, the centrifugal pendulum absorber comprising: a damper rotor coupled to the harmonic drive mechanism and the second link; A robot arm as described in any one of embodiments 1 to 4, comprising at least one oscillating mass coupled to the damper rotor. (8) The vibration damper includes a squeeze film damper, an inner ring coupled to the harmonic drive mechanism and the second link; an outer ring coupled to the first link, the outer ring being concentrically disposed about the inner ring and defining a film clearance between the inner ring and the outer ring; A robot arm as described in any of the preceding claims, comprising a viscous fluid disposed within the film clearance. (9) The robot arm of embodiment 8, wherein the squeeze film damper further comprises a cross roller bearing coupled to the first link and the second link. (10) A linear joint for a robot arm, comprising: A linear guide, a carrier coupled to the linear guide, the carrier being movable laterally relative to the linear guide; and a damping material disposed between the linear guide and the carrier, the damping material reducing vibration of the robot arm.

[0189] (11) The linear joint of claim 10, wherein the damping material includes a pressurized fluid damping material. (12) The linear joint of claim 11, wherein the pressurized fluid damping material comprises a magnetorheological fluid. (13) detecting vibrations of the robot arm; Identifying frequency components of the vibration within a frequency range of the robot arm; 13. The linear joint of claim 12, further comprising a controller configured to apply an electrical control signal to the magnetorheological fluid to modulate a damping coefficient of the damping material in response to the frequency content of the vibration exceeding a frequency content threshold. (14) An end effector for a robot arm, the end effector comprising: An elongated tool shaft; a device manipulator coupled to the elongated tool shaft and configured to move the elongated tool shaft, the elongated tool shaft passing through the device manipulator; an end effector comprising: a vibration damper coupled to the device manipulator and the elongated tool shaft, the vibration damper reducing vibration of the robotic arm; (15) The vibration damper includes a translational viscous damper, a damper housing coupled to the device manipulator; a piston coupled to the elongated tool shaft and disposed within the damper housing; 15. An end effector as described in embodiment 14, comprising a damping fluid disposed within the damper housing, the damping fluid configured to resist movement of the piston.

[0190] (16) The end effector of claim 15, wherein the piston defines at least one orifice that allows the damping fluid to pass through the piston at a controlled rate. (17) An end effector according to any one of claims 15 to 16, wherein the damping fluid comprises a magnetorheological fluid. (18) detecting vibrations of the robot arm; Identifying frequency components of the vibration within a frequency range of the robot arm; An end effector as described in embodiment 17, further comprising a controller configured to apply an electrical control signal to the magnetorheological fluid to modulate a damping coefficient of the damper in response to the frequency component of the vibration exceeding the frequency component threshold. (19) A method for operating a robot arm, comprising: actuating one or more joints of the robotic arm to move an end effector of the robotic arm at a first end effector velocity, the robotic arm defining a frequency range; detecting vibrations of the robot arm during the actuation of the one or more joints of the robot arm; identifying frequency components of the vibration within the frequency range of the robot arm; and in response to the frequency content of the vibration exceeding a frequency content threshold, actuating the one or more joints of the robot arm to move the end effector of the robot arm at a second end effector velocity to reduce the vibration of the robot arm, wherein the second end effector velocity is less than the first end effector velocity. (20) The method of claim 19, further comprising detecting the vibration of the robot arm via an accelerometer coupled to the robot arm.

[0191] (21) The method of embodiment 20, wherein the accelerometer is coupled to a proximal link of the robot arm. (22) The method of any of claims 19 to 21, further comprising detecting the vibration of the robot arm via a strain gauge coupled to the robot arm. (23) The method of embodiment 22, wherein the strain gauge is coupled to a proximal link of the robot arm. (24) A method for operating a robot arm, comprising: actuating one or more joints of the robotic arm to move an end effector of the robotic arm at a first end effector velocity, the robotic arm defining a frequency range; detecting vibrations of the robot arm during the actuation of the one or more joints of the robot arm; identifying frequency components of the vibration within the frequency range of the robot arm; and in response to the frequency content of the vibration exceeding a frequency content threshold, modulating a damping coefficient of a damper coupled to the robot arm to reduce the vibration of the robot arm. 25. The method of claim 24, wherein the damper comprises a magnetorheological fluid.

[0192] 26. The method of claim 25, further comprising applying an electrical control signal to the magnetorheological fluid to modulate the damping coefficient of the damper. (27) The method of any one of claims 24 to 26, wherein the damper is coupled to a rotary joint. 28. The method of claim 27, wherein the damper is selected from the group consisting of a torsional vibration damper, a centrifugal pendulum absorber, and a squeeze film damper. (29) The method of any one of claims 24 to 26, wherein the damper is coupled to a linear joint. 30. The method of claim 29, wherein the damper comprises a roller rail unit damper.

[0193] (31) The method of any one of claims 24 to 26, wherein the damper is coupled to the end effector. 32. The method of claim 31, wherein the damper comprises a translational viscous damper. (33) A non-transitory machine-readable storage medium containing executable instructions that, when executed by a data processing system, cause the data processing system to perform a method, the method comprising: Detecting vibrations of the robot arm during movement of the end effector; Calculating a frequency range for the robot arm; identifying frequency components of the vibration within the frequency range of the robot arm; and in response to the frequency content of the vibration exceeding a frequency content threshold, reducing the vibration of the robotic arm. (34) The method of claim 33, wherein reducing the vibration of the robot arm includes reducing a velocity of the end effector during the movement of the end effector. (35) The method of embodiment 33, wherein reducing the vibration of the robot arm includes increasing a damping coefficient of a damper coupled to the robot arm.

Claims

1. A robotic arm, A first link; A second link; a rotational joint connecting the first link and the second link and allowing the first link to move relative to the second link, the rotational joint comprising: a rotor coupled to the first link and configured to provide a rotor torque; a harmonic drive mechanism coupled to the rotor and configured to increase the rotor torque; a vibration damper coupled to the harmonic drive mechanism and the second link, the vibration damper enabling transfer of the rotor torque from the harmonic drive mechanism to the second link and reducing vibration of the robot arm.

2. The robotic arm of claim 1 , wherein the revolute joint further comprises an adapter flange coupled to the harmonic drive mechanism and the vibration damper.

3. The robotic arm of claim 1 , wherein the vibration damper comprises a magnetorheological fluid.

4. Detecting vibrations of the robot arm; Identifying frequency components of the vibration within a frequency range of the robot arm; 4. The robotic arm of claim 3, further comprising a controller configured to apply an electrical control signal to the magnetorheological fluid to modulate a damping coefficient of the vibration damper in response to the frequency content of the vibration exceeding a frequency content threshold.

5. The vibration damper comprises a torsional vibration damper, the torsional vibration damper comprising: a housing coupled to the harmonic drive mechanism and the second link; a disk disposed within the housing; 5. A robot arm according to claim 1, comprising: a damping material disposed within the housing and surrounding the disk, the damping material being configured to resist movement of the disk.

6. The robotic arm of claim 5 , wherein the damping material comprises a silicone fluid.

7. The vibration damper includes a centrifugal pendulum absorber, the centrifugal pendulum absorber comprising: a damper rotor coupled to the harmonic drive mechanism and the second link; and at least one seismic mass coupled to the damper rotor.

8. The vibration damper comprises a squeeze film damper, the squeeze film damper comprising: an inner ring coupled to the harmonic drive mechanism and the second link; an outer ring coupled to the first link, the outer ring being concentrically disposed about the inner ring and defining a film clearance between the inner ring and the outer ring; and a viscous fluid disposed within the film clearance.

9. 9. The robotic arm of claim 8, wherein the squeeze film damper further comprises a cross roller bearing coupled to the first link and the second link.

10. 1. A linear joint for a robotic arm, the linear joint comprising: A linear guide, a carrier coupled to the linear guide, the carrier being movable laterally relative to the linear guide; and a damping material disposed between the linear guide and the carrier, the damping material reducing vibration of the robot arm.

11. The linear joint of claim 10 , wherein the damping material comprises a pressurized fluid damping material.

12. The linear joint of claim 11 , wherein the pressurized fluid damping material comprises a magnetorheological fluid.

13. Detecting vibrations of the robot arm; Identifying frequency components of the vibration within a frequency range of the robot arm; 13. The linear joint of claim 12, further comprising a controller configured to apply an electrical control signal to the magnetorheological fluid to modulate a damping coefficient of the damping material in response to the frequency content of the vibration exceeding a frequency content threshold.

14. 1. An end effector for a robotic arm, said end effector comprising: An elongated tool shaft; a device manipulator coupled to the elongated tool shaft and configured to move the elongated tool shaft, the elongated tool shaft passing through the device manipulator; an end effector comprising: a vibration damper coupled to the device manipulator and the elongated tool shaft, the vibration damper reducing vibration of the robotic arm;

15. The vibration damper comprises a translational viscous damper, the translational viscous damper comprising: a damper housing coupled to the device manipulator; a piston coupled to the elongated tool shaft and disposed within the damper housing; The end effector of claim 14 , comprising: a damping fluid disposed within the damper housing, the damping fluid configured to resist movement of the piston.

16. The end effector of claim 15, wherein the piston defines at least one orifice that allows the damping fluid to pass through the piston at a controlled rate.

17. The end effector of claim 15 or 16, wherein the damping fluid comprises a magnetorheological fluid.

18. Detecting vibrations of the robot arm; Identifying frequency components of the vibration within a frequency range of the robot arm; 18. The end effector of claim 17, further comprising a controller configured to apply an electrical control signal to the magnetorheological fluid to modulate a damping coefficient of the damper in response to the frequency content of the vibration exceeding the frequency content threshold.

19. 1. A method of operating a robotic arm, comprising: actuating one or more joints of the robot arm to move an end effector of the robot arm at a first end effector velocity, the robot arm defining a frequency range; detecting vibrations of the robot arm during the actuation of the one or more joints of the robot arm; identifying frequency components of the vibration within the frequency range of the robot arm; and in response to the frequency content of the vibration exceeding a frequency content threshold, actuating the one or more joints of the robot arm to move the end effector of the robot arm at a second end effector velocity to reduce the vibration of the robot arm, wherein the second end effector velocity is less than the first end effector velocity.

20. The method of claim 19 , further comprising detecting the vibrations of the robotic arm via an accelerometer coupled to the robotic arm.

21. The method of claim 20 , wherein the accelerometer is coupled to a proximal link of the robotic arm.

22. 22. The method of any one of claims 19 to 21, further comprising detecting the vibrations of the robot arm via a strain gauge coupled to the robot arm.

23. The method of claim 22 , wherein the strain gauge is coupled to a proximal link of the robotic arm.

24. 1. A method of operating a robotic arm, comprising: actuating one or more joints of the robot arm to move an end effector of the robot arm at a first end effector velocity, the robot arm defining a frequency range; detecting vibrations of the robot arm during the actuation of the one or more joints of the robot arm; identifying frequency components of the vibration within the frequency range of the robot arm; and in response to the frequency content of the vibration exceeding a frequency content threshold, modulating a damping coefficient of a damper coupled to the robot arm to reduce the vibration of the robot arm.

25. The method of claim 24 , wherein the damper comprises a magnetorheological fluid.

26. 26. The method of claim 25, further comprising applying an electrical control signal to the magnetorheological fluid to modulate the damping coefficient of the damper.

27. 27. The method of any one of claims 24 to 26, wherein the damper is coupled to a revolute joint.

28. 28. The method of claim 27, wherein the damper is selected from the group consisting of a torsional vibration damper, a centrifugal pendulum absorber, and a squeeze film damper.

29. The method of claim 24 , wherein the damper is coupled to a linear joint.

30. 30. The method of claim 29, wherein the damper comprises a roller rail unit damper.

31. The method of claim 24 , wherein the damper is coupled to the end effector.

32. The method of claim 31 , wherein the damper comprises a translational viscous damper.

33. 1. A non-transitory machine-readable storage medium comprising executable instructions that, when executed by a data processing system, cause the data processing system to perform a method, the method comprising: Detecting vibrations of the robot arm during movement of the end effector; Calculating a frequency range for the robot arm; identifying frequency components of the vibration within the frequency range of the robot arm; and in response to the frequency content of the vibration exceeding a frequency content threshold, reducing the vibration of the robotic arm.

34. 34. The method of claim 33, wherein reducing the vibration of the robotic arm includes reducing a velocity of the end effector during the movement of the end effector.

35. 34. The method of claim 33, wherein reducing the vibration of the robotic arm includes increasing a damping coefficient of a damper coupled to the robotic arm.

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