ROBOTIC CLEANING DEVICES AND SYSTEMS FOR SURGICAL INSTRUMENTS AND METHODS THEREOF

Abstract

Provided is an apparatus designed to clean the end of an imaging device, such as an endoscope, comprising: a shaft having a distal end capable of being positioned within an anatomical structure of a target, the shaft including an ejection port positioned near the distal end of the shaft, the ejection port configured to eject a volume of liquid or gas into a channel to clean the distal end of the instrument; and a hub coupled to a proximal end of the shaft, the hub and shaft collectively defining a channel for accommodating a trocar of a robotic system. TIFF2025509574000002.tif127157

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to U.S. Provisional Patent Application No. 63 / 320,166, "ROBOTIC CLEANING DEVICES AND SYSTEMS FOR SURGICAL INSTRUMENTS," filed March 15, 2022, the entire disclosure of which is incorporated herein by reference.

[0002] Technical Field The present disclosure relates generally to systems, devices and methods for cleaning instruments, and more particularly, to cleaning an imaging device positioned within a subject's body during a robotic-assisted surgical procedure. [Background technology]

[0003] background Trocars are medical devices used during minimally invasive surgical procedures, such as laparoscopy, endoscopy, and the like. During these surgical procedures, trocars can be inserted into the anatomical structure (e.g., a body lumen or cavity) of a subject. After insertion, the trocar serves as a medium for introducing surgical instruments and imaging devices (e.g., a camera) that aid in the surgical procedure. For example, imaging devices (e.g., a camera, such as a laparoscope, endoscope, or other fiberscope) can be inserted through the trocar into the anatomical structure (e.g., inside a body lumen or cavity) of a subject. These imaging devices can be used to visualize the subject's internal organs to perform diagnosis and / or to gain access to these internal organs for treatment. In addition, trocars can allow for venting gas or fluid from the internal organs of a subject's body.

[0004] Given that imaging devices are inserted into the subject's body, the tips of these imaging devices (e.g., the tips of laparoscopes, endoscopes, or other fiberscopes that are inserted into the subject's body) can become clouded with smear, residue, debris, condensation, and / or other types of obstructions. For example, fluid or gas within the subject's internal organs can cloud the lens of the imaging device. Thus, the tips of the imaging devices need to be cleaned during medical procedures.

[0005] Traditionally, to clean an imaging device, a surgeon would retract the imaging device from the subject's body, clean the imaging device, and then reinsert the imaging device through the trocar, but such removal and reinsertion can increase the length of the procedure and can increase the risk of infection (e.g., by removing a sterile device from the body cavity).

[0006] In recent years, robotic-assisted surgery has been widely adopted for minimally invasive surgical procedures. Robotic-assisted surgery allows surgeons to perform minimally invasive surgical procedures with greater precision, flexibility, and control. During a robotic-assisted surgical procedure, a surgeon may make a small incision on the subject's body. The surgeon then controls a robot, which then precisely manipulates the trocars, surgical instruments, and imaging devices. However, as mentioned above, the tip of the imaging device may become foggy during the surgical procedure. To retrieve the imaging device, a human may need to enter the operating room to manually remove the imaging device from the robot, clean it, and then reattach the imaging device to the robot. Such a procedure may be cumbersome, require a human operator, and increase the risk of infection. Moreover, such steps may slow down the surgical procedure and potentially affect the precision of the robotic-assisted surgery.

[0007] Thus, a need exists for an improved, precise and automated manner for cleaning the end of an imaging device during surgical procedures, such as robotic-assisted surgical procedures. Summary of the Invention

[0008] overview The embodiments described herein relate to a trocar designed to clean the end of an imaging device, such as an endoscope. The trocar and endoscope may be positioned within a body cavity. The trocar may use a volume of liquid and / or gas to clean the end of the endoscope. In some embodiments, the imaging device may be coupled to a robotic device that may be configured to manipulate the imaging device. For example, the robotic device may be configured to move the imaging device to view the body cavity and / or to clean the distal end of the imaging device. In some embodiments, the robotic device may be configured to retract the imaging device, for example, through the trocar, to position it for cleaning. In some embodiments, the robotic device may be programmed to position the imaging device in a suitable position for cleaning with the trocar via a calibration process.

[0009] In some embodiments, the device includes: a shaft having a distal end capable of being positioned within the anatomical structure of a subject, the shaft including an ejection port positioned near the distal end of the shaft, the ejection port configured to eject a volume of liquid or gas into a channel to clean the distal end of an instrument; a hub coupled to a proximal end of the shaft, the hub and shaft collectively defining a channel for accommodating a trocar of a robotic system; a sensor positioned near the ejection port, the sensor configured to detect when a distal end of an instrument positioned within the channel of the trocar is positioned near the ejection port; and a controller operably coupled to the sensor, the controller configured to receive a signal from the sensor indicative of the distal end of the instrument being positioned near the ejection port, and to activate a cleaning sequence by triggering the ejection of the volume of liquid or gas in response to receiving the signal from the sensor.

[0010] In some embodiments, the system includes: a shaft defining a channel for accommodating an instrument, the shaft having a distal end positionable within the anatomical structure of a subject, the shaft including an ejection port configured to eject a volume of liquid or gas into the channel to clean the distal end of the instrument; a fluid delivery system coupled to the shaft and configured to control the ejection of the volume of liquid or gas; a robotic system coupleable to the instrument and configured to retract the instrument to a predetermined position; and a processor operably coupled to the robotic system and the fluid delivery system, the processor configured to control the fluid delivery system to cause the ejection of the volume of liquid or gas in response to the instrument being retracted to the predetermined position.

[0011] In some embodiments, the method includes the steps of: positioning a trocar within a shaft of a cleaning system such that the distal end of the trocar is disposed within a channel of the shaft, the shaft having a proximal end connected to a hub and a distal end disposed within the body cavity; securing the proximal end of the trocar to the hub after the trocar is positioned within the shaft; inserting an endoscope into the channel of the trocar such that the distal end of the endoscope extends distally from the distal end of the trocar, into the channel of the shaft and into the body cavity; retracting the endoscope so that the distal end of the endoscope is within the channel of the shaft and near an ejection port in the shaft for cleaning with a volume of liquid and gas ejected into the channel by the ejection port.

[0012] In some embodiments, the method includes the steps of: detecting that a distal end of an endoscope is near an ejection port of a first trocar disposed within a body cavity, the endoscope being supported within a channel of a second trocar disposed within the channel of the first trocar; in response to the detection, activating delivery of pressurized gas to propel and deliver a predetermined volume of liquid to the first trocar; and delivering the pressurized gas and the predetermined volume of liquid via the ejection port into the channel of the first trocar to clean the distal end of the endoscope. [Brief description of the drawings]

[0013] Those skilled in the art will appreciate that the drawings are primarily for illustrative purposes and are not intended to limit the scope of the inventive subject matter described herein. The drawings are not necessarily to scale; in some cases, various aspects of the inventive subject matter disclosed herein may be shown exaggerated or enlarged in the drawings to facilitate an understanding of different features. In the drawings, like reference characters generally refer to like features (e.g., functionally similar and / or structurally similar elements).

[0014] [Figure 1]FIG. 1 is a block diagram of a system, including a robotic system, for cleaning an imaging device in an interior portion of a target anatomy (e.g., a body lumen or cavity), according to one embodiment. [Diagram 2] 1 is a block diagram illustrating in greater detail a fluid delivery system for cleaning an imaging device disposed within a subject's anatomical structure (eg, a body lumen or cavity), according to one embodiment. [Diagram 3] FIG. 13 is a block diagram illustrating in greater detail the connections between the fluid delivery system and the trocar of the cleaning system, according to one aspect. [Figure 4] FIG. 1 is a schematic diagram of a robotic system for cleaning an imaging device, according to one aspect. [Diagram 5] FIG. 1 is a block diagram of a trocar of a cleaning system, according to one aspect. [Figure 6] FIG. 1 is a block diagram of an obturator that may be used with a trocar of a cleaning system, according to one aspect. [Figure 7A] 1 is an illustration of a trocar and obturator of a cleaning system and its various components, according to one embodiment. [Figure 7B] 7B provides a detailed view of the distal end of the trocar of FIG. 7A. [Figure 8A] 1 is an illustration of a trocar and an imaging device (eg, a scope) of a cleaning system coupled to a robotic system, according to one embodiment. [Figure 8B] 1 depicts a guide used to calibrate the position and / or orientation of an imaging device relative to a trocar of a cleaning system, according to one embodiment. [Figure 8C] 1 depicts the relative positioning of a distal end of an imaging device and a distal end of a trocar of a cleaning system according to one aspect. [Figure 9]9A and 9B depict a guide used to calibrate the position and / or orientation of an imaging device relative to a trocar of a cleaning system, according to one embodiment. [Figure 10] 10A and 10B are illustrations of an external sensing component configured to detect the position and / or orientation of an imaging device (eg, a scope) according to one embodiment. [Figure 11] 1 illustrates a method associated with operating a cleaning system, according to one aspect. [Figure 12] 12A and 12B illustrate a cleaning system in which a first trocar of a robotic system is nested within a second trocar of the cleaning system, according to embodiments. [Figure 13] 1 illustrates a cleaning system in which a first trocar of the cleaning system is nested within a second trocar of a robotic system, according to embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Detailed Description Described herein are systems, devices, and methods for cleaning imaging devices (e.g., cameras, such as endoscopes, laparoscopes, and other fiberscopes) during surgical procedures. More specifically, described herein are systems, devices, and methods for cleaning imaging devices in an automated and precise manner during surgical procedures (e.g., robotically assisted surgical procedures).

[0016] The techniques described herein may include a robotic system for automatically cleaning an imaging device during a surgical procedure. In some embodiments, the robotic system may assist a surgeon during a surgical procedure by performing at least a portion of the surgical procedure. In some embodiments, the robotic system may be configured to determine that an imaging device inserted into a subject's (e.g., patient's) body during a surgical procedure requires cleaning. For example, the robotic system may analyze image data from the imaging device and determine that the imaging device requires cleaning based on the analysis. Additionally or alternatively, the robotic system may be configured to receive input from a user (e.g., surgeon, operator, etc.) that indicates and / or commands the robotic system to clean the imaging device. Additionally or alternatively, the robotic system may be configured to clean the imaging device at predetermined time points and / or at predetermined time intervals during the surgical procedure.

[0017] In some embodiments, the robotic system may be configured to retract the tip of the imaging device from the subject's body in response to determining that the imaging device requires cleaning. The robotic system may control a cleaning system to clean the imaging device. For example, the robotic system may be configured to retract the imaging device to a position and / or orientation that allows the imaging device to be cleaned. In some embodiments, the robotic system may be coupled to or include a fluid delivery system that can use gas to propel a controlled amount of liquid into the lumen of the trocar to clean the imaging device. After the imaging device is cleaned, the robotic system may be configured to reposition and / or reorient the imaging device (e.g., in an automatic manner) so that the surgical procedure can continue in a seamless manner without adversely affecting the surgical procedure.

[0018] In some embodiments, the robotic system may be configured to clean the imaging device based on the type of cleaning and / or the intensity of cleaning. For example, the robotic system may analyze image data from the imaging device to determine the type of cleaning required and / or the intensity of cleaning required. For example, the robotic system may automatically select a high intensity cleaning cycle to thoroughly clean the imaging device if it detects the presence of a large amount of obstruction on the imaging device based on the image data. Additionally or alternatively, a user may select the type of cleaning and / or the intensity of cleaning required for the imaging device and instruct the robotic system to clean the imaging device accordingly. In some embodiments, one or more sensors, internal and / or external to the trocar, may be used to sense the position and orientation of the imaging device to automate the cleaning process.

[0019] Examples of endoscope cleaning systems are described in U.S. Patent Publication Nos. 2019 / 0125176, "Trocars," filed October 18, 2018, 2021 / 0127963, "Intraoperative Endoscope Cleaning System," filed November 21, 2019, and 2021 / 0127964, "Intraoperative Endoscope Cleaning System," filed November 21, 2019, the entire disclosures of each of which are incorporated herein by reference. The systems, devices, and methods described herein improve such cleaning systems, for example, by automating certain cleaning operations and instrument positioning.

[0020] FIG. 1 is a block diagram of a system 100 including a robotic system 180 for cleaning an imaging device in an interior portion of a subject's anatomical structure (e.g., a body lumen or cavity) according to one embodiment. During a minimally invasive surgical procedure, incisions may be made on the subject's body. Trocars 130 may be inserted into the subject's body through these incisions such that the trocars 130 are disposed within the body cavity underlying a layer of tissue. The trocars 130 may be operably coupled to an imaging system 190. In some embodiments, the imaging system 190 may include an imaging device (e.g., an endoscope, a laparoscope, a fiberscope, etc.), such as an imaging device 192. Additionally or alternatively, the imaging system 190 may be coupled to the imaging device 192. The robotic system 180 may be coupled (e.g., communicatively coupled and / or operably coupled) to the imaging system 190 and the fluid delivery system 110. The fluid delivery system 110 may be fluidly coupled to a gas source 160 and, optionally, to an external liquid source 170. In some embodiments, the robotic system 180 may optionally be coupled to the trocar 130 .

[0021] Trocar 130 is a surgical instrument that can be placed within a subject's body. For example, trocar 130 may be placed within a body lumen and / or cavity of a subject. Some non-limiting examples of body cavities include the abdomen, thoracic cavity, chest cavity, gallbladder, bladder, kidney, lung, and / or combinations thereof. Trocar 130 may include (1) a trocar hub 131 to provide a handle for placing trocar 130 and / or an anchor port for securing trocar 130; and (2) a trocar shaft 132 extending from trocar hub 131. Trocar hub 131 and trocar shaft 132 may collectively define a channel for accommodating a surgical instrument and / or an imaging device (e.g., imaging device 192). In some embodiments, trocar 130 may be coupled to an obturator to enable initial placement of trocar 130 within a body lumen and / or cavity. In some embodiments, the trocar 130 may include one or more gas channels or vents to allow for the delivery (eg, insufflation) of gas and / or the escape of gas.

[0022] Additionally, the trocar 130 may include one or more channels or lines in fluid communication with the fluid delivery system 110, for example, to receive gas and / or liquid from the fluid delivery system 110. The fluid delivery system 110 may be configured to control the delivery of gas and / or liquid to perform one or more irrigation sequences, such as for cleaning the distal end of the imaging device. In some embodiments, the channels or lines may be primed after each deployment of the irrigation solution (e.g., after each irrigation sequence). In some embodiments, the trocar 130 may be maintained in place by an anchor (not shown) placed outside the patient's body. In some embodiments, the trocar 130 may optionally include one or more sensors to detect the presence, position, and / or orientation of a surgical instrument and / or an imaging device (e.g., imaging device 192). Further details of exemplary trocars are provided below with reference to FIGS. 5-7.

[0023] The imaging system 190 may be coupled to the trocar 130. In some embodiments, at least a portion of the imaging system 190 may be disposed and / or positioned within the trocar 130. For example, the imaging system 190 may include an imaging device 192 (e.g., a scope, such as an endoscope, laparoscope, fiberscope, etc.). The trocar 130 may be configured to accommodate at least a portion of the imaging device 192 (e.g., via a trocar channel). Alternatively, the imaging device 192 may be separate from the imaging system 190. For example, the entire imaging system 192 may be positioned outside the trocar 130, while at least a portion of the imaging device 192 may be positioned within the trocar 130. In such embodiments, the imaging device 192 may be coupled (e.g., communicatively coupled and / or operably coupled) to the imaging system 190.

[0024] The imaging device 192 may be any suitable imaging device configured to be inserted into an interior portion of a subject's anatomical structure (e.g., a body lumen or cavity) to acquire image data of the body lumen, cavity, and / or internal organs and transmit the image data to a user (e.g., a surgeon, an operator, etc.) for review. For example, the imaging device 192 may be any suitable scope, such as an endoscope, a laparoscope, a fiberscope, and / or a combination thereof. Typically, the imaging device 192 may include an elongated body that can be inserted into a body lumen and / or cavity of a subject with an image capture device at one end of the elongated body. The image capture device may be configured to acquire images of the body lumen, cavity, and / or internal organs. In some embodiments, the imaging device 192 may be similar to the endoscope described in U.S. Patent Publication No. 2021 / 0127963, which is incorporated by reference above.

[0025] Image data from imaging device 192 may be transmitted to a user via a user interface of imaging system 190. For example, in some embodiments, imaging system 190 may include a display. Image data from imaging device 192 may be displayed on a display for review by a user. Imaging system 190 may include a processor for processing and analyzing image data from imaging device 192. Image data and / or analysis output may be stored in memory of imaging system 190. In some embodiments, imaging system 190 may include a user interface for displaying image data obtained from imaging device 192 to a user, as described above.

[0026] The robotic system 180 may be communicatively coupled to the imaging system 190. For example, the robotic system 180 may be communicatively coupled to the imaging system 190 via any suitable type of network (e.g., a local area network (LAN), a wide area network (WAN), a virtual network, a telecommunications network), implemented as a wired network and / or a wireless network. In some embodiments, at least a portion of the imaging system 190 may be operably coupled to the robotic system 180. For example, the imaging device 192 may be operably coupled to the robotic system 180 such that the robotic system 180 can be configured to position and orient the imaging device 192 during a surgical procedure.

[0027] In some embodiments, the robotic system 180 may include a computing device configured to receive image data and / or analysis of the image data from the imaging system 190, process the image data and / or analysis from the imaging system 190, and control and / or transmit instructions for controlling at least the fluid delivery system 110 and / or the imaging device 192. In some embodiments, the computing device may be configured to obtain and analyze sensor data from sensors in the trocar 130 and / or sensors external to the trocar 130. For example, the computing device may be configured to analyze data from the imaging system 190 and / or sensor data from the sensors. Based on the analysis, the computing device may be configured to determine: the position and / or orientation of the imaging device 192 during the surgical procedure; the position and / or orientation of the imaging device 192 relative to the trocar 130 during cleaning and during the surgical procedure; whether the imaging device 192 requires cleaning during the surgical procedure; the duration and / or point in time during the surgical procedure at which the imaging device 192 requires cleaning; the position and / or orientation of the imaging device for cleaning the imaging device 192; and / or the type and / or intensity of cleaning that the imaging device 192 requires, etc.

[0028] In some embodiments, the robotic system 180 may include a manipulator configured to manipulate a surgical device (e.g., the trocar 130), the imaging device 192, the imaging system 190, and / or the fluid delivery system 110. For example, in some embodiments, the robotic system 180 may be configured to perform at least a portion of a surgical procedure. Thus, the manipulator may be configured to insert the trocar 130 into the body lumen / cavity and / or to initially position the imaging device 192 within the trocar 130. The manipulator may be configured to automatically (e.g., based on instructions from a computing device of the robotic system 180) insert the trocar 130 and / or to initially position the imaging device 192 relative to the trocar 130. Additionally or alternatively, the manipulator may be configured to insert the trocar and / or to initially position the imaging device 192 based on instructions from a user. In some embodiments, the manipulator may be configured to position the imaging device 192 relative to the trocar 130 (e.g., automatically based on instructions from a computing device of the robotic system 180) to clean the imaging device 192. In some embodiments, the manipulator may be configured to manipulate or send signals or commands to the fluid delivery system 110 (e.g., an actuator within the fluid delivery system 110, a pump within the fluid delivery system 110, etc.) to clean the imaging device 192. Further details of an exemplary robotic system 180 are provided below with reference to FIG.

[0029] The robotic system 180 may be coupled (e.g., communicatively coupled and / or operably coupled) to the fluid delivery system 110. The fluid delivery system 110 may be fluidly coupled to the trocar 130. The fluid delivery system 110 may include or be coupled to one or more of a pump mechanism, a controller, a power source, or a fluid reservoir. The power source may be configured to deliver power to the pump mechanism and the controller. The fluid reservoir may be configured to contain a fluid for cleaning the imaging device 192. The pump mechanism may be configured to assist in the delivery of fluid to the trocar 130 for cleaning the imaging device 192. The controller may be configured to control the operation of the pump mechanism. Further details of an exemplary fluid delivery system 110 are provided below with reference to FIG. 2.

[0030] The fluid delivery system 110 may be fluidly coupled to a gas source 160. The gas source 160 may be used to pressurize and deliver liquid via the fluid delivery system 110 to clean the imaging device 192. In some embodiments, the gas source 160 may include a container (e.g., a tank) that stores a volume of pressurized gas. In some embodiments, the gas source 160 may deliver gas at a pressure of about 20 psi to about 50 psi, including all values ​​and subranges therebetween. In some embodiments, the gas delivered by the gas source 160 may include CO2, nitrogen, argon, or any other inert gas, or combinations thereof. The gas selected may be a gas commonly used in medical procedures and safe for delivery into and / or into a body lumen.

[0031] As disclosed above, in some embodiments, the fluid delivery system 110 may include a liquid reservoir with a liquid configured to wash the imaging device 192. Additionally or alternatively, the fluid delivery system 110 may be coupled to an external liquid source 170. The external liquid source 170 may be used to supply liquid to the fluid delivery system 110 and / or directly to one or more liquid lines. The external liquid source 170 may be separate from the fluid delivery system 110, but may be coupled to the fluid delivery system 110, such as, for example, via a fluid line and / or port. In some embodiments, the external liquid source 170 may be a fluid bag or other type of fluid-containing element. In some embodiments, the external liquid source 170 may be a water line or other fluid line within a building that may be connected to the fluid delivery system 110 via a faucet or other connection. In some embodiments, the external liquid source 170 may be used to fill (e.g., pre-fill or refill) a liquid reservoir included within the fluid delivery system 110.

[0032] 2 depicts a system 200 for delivering fluid to a trocar 230 (e.g., structurally and / or functionally similar to trocar 130 in FIG. 1 ) according to one embodiment. As shown, system 200 includes a fluid delivery system 210 (e.g., structurally and / or functionally similar to fluid delivery system 110 in FIG. 1 ) fluidly coupled to trocar 230 and a gas source 260 (e.g., structurally and / or functionally similar to gas source 160 in FIG. 1 ). Fluid delivery system 210 may optionally include an on-board power source 212. Alternatively or additionally, fluid delivery system 210 may optionally be coupled to an external power source 250. Fluid delivery system 210 includes a pump mechanism 216 and a controller 220. Fluid delivery system 210 may optionally include a liquid reservoir 214. Alternatively or additionally, fluid delivery system 210 may optionally be coupled to an external liquid source 270 (e.g., structurally and / or functionally similar to external liquid source 170 in FIG. 1). Fluid delivery system 210 may be coupled (e.g., communicatively coupled and / or operably coupled) to a robotic system 280 (e.g., structurally and / or functionally similar to robotic system 180 in FIG. 1). The lines depicted in FIG. 2 connecting the various units of system 200 may represent electrical, physical, and / or fluid connections.

[0033] The on-board power supply 212 may be an optional component integrated within the fluid delivery system 210. The on-board power supply 212 may be configured to power the pumping mechanism 216 and / or the controller 220. In some embodiments, the on-board power supply may include a battery. In some embodiments, the on-board power supply 212 may include a fuel cell. In some embodiments, the on-board power supply may be integrated within the same structure as the liquid reservoir 214, the pumping mechanism 216, and / or the controller 220. For example, the on-board power supply 212, the liquid reservoir 214, and the pumping mechanism 216 may be disposed together within a housing (or one or more housing sections coupled together to form a housing).

[0034] Optionally, an external power source 250 may be coupled to the fluid delivery system 210 to deliver power to one or more components of the fluid delivery system 210. In some embodiments, the external power source 250 may include a wall outlet. In some embodiments, the external power source 250 may include a battery or battery pack that is physically separate from the fluid delivery system 210. In some embodiments, the external power source 250 may power the pump mechanism 216, the controller 216, and / or the on-board power supply 212.

[0035] The liquid reservoir 214 may be an optional component integrated into the fluid delivery system 210. The liquid reservoir 214 may be configured to contain a liquid (e.g., a cleaning liquid or solution), for example, for cleaning an imaging device (e.g., imaging device 192 in FIG. 1). In some embodiments, the cleaning fluid may include saline, a buffer solution, a biocompatible surfactant, and / or any other suitable cleaning solution, including those described in U.S. Patent Publication No. 2021 / 0127963. The liquid reservoir 214 may be configured to contain a volume of liquid sufficient to perform at least about 5, at least about 10, at least about 50, at least about 100, at least about 500, at least about 1000, at least about 1500, or at least about 2000 cleaning sequences. For example, the liquid reservoir 214 may be filled with enough liquid to clean the imaging device (e.g., imaging device 192 in FIG. 1) throughout the duration of a surgical procedure. In some embodiments, the liquid reservoir 214 may be pre-filled with different volumes of liquid depending, for example, on the estimated number of cleanings required for the imaging device positioned within the body lumen and / or cavity. Thus, the liquid reservoir 214 may be filled with a larger volume of liquid for longer procedures requiring more cleaning sequences. In some embodiments, the liquid reservoir 214 may have a volume of at least about 5 mL, at least about 10 mL, at least about 15 mL, at least about 20 mL, at least about 25 mL, at least about 30 mL, at least about 35 mL, at least about 40 mL, at least about 45 mL, at least about 50 mL, at least about 55 mL, at least about 60 mL, at least about 65 mL, at least about 70 mL, at least about 75 mL, at least about 80 mL, at least about 85 mL, at least about 90 mL, or at least about 95 mL.In some embodiments, the liquid reservoir 214 may have a volume of about 100 mL or less, about 95 mL or less, about 90 mL or less, about 85 mL or less, about 80 mL or less, about 75 mL or less, about 70 mL or less, about 65 mL or less, about 60 mL or less, about 55 mL or less, about 50 mL or less, about 45 mL or less, about 40 mL or less, about 35 mL or less, about 30 mL or less, about 25 mL or less, about 20 mL or less, about 15 mL or less, or about 10 mL or less. Combinations of the above-mentioned liquid reservoir 214 volumes are also possible, including all values ​​and ranges therebetween (e.g., at least about 5 mL and about 100 mL or less, or at least about 20 mL and about 40 mL or less). In some embodiments, the fluid reservoir 214 may have a volume of about 5 mL, about 10 mL, about 15 mL, about 20 mL, about 25 mL, about 30 mL, about 35 mL, about 40 mL, about 45 mL, about 50 mL, about 55 mL, about 60 mL, about 65 mL, about 70 mL, about 75 mL, about 80 mL, about 85 mL, about 90 mL, about 95 mL, or about 100 mL. Alternatively or additionally, an external fluid source 270 (as described above) may be used to supply fluid to the fluid delivery system 210.

[0036] A pump mechanism 216 may assist in the delivery of liquid (e.g., flushing liquid or solution) to the trocar 230. In some embodiments, the pump mechanism 216 may include or form part of a centrifugal pump, a peristaltic pump, a lobe pump, a rotary gear pump, a horizontal split case pump, an air-operated pump, a diaphragm pump, a magnetic drive pump, a mechanical drive pump, an electrically drive pump, or any other suitable pumping device, or combinations thereof. In a specific embodiment, the pump mechanism 216 may include a plunger, a platform, a shaft, or other suitable component that may be actuated (e.g., via a pump actuator 326) to pressurize the fluid line and deliver the liquid. For example, the pump mechanism 216 embodied as a plunger may be actuated to pressurize a flexible housing or tubing containing the liquid. Pressurization of the flexible housing or tubing may drive the liquid within the flexible housing or tubing toward the trocar 230, for example, to fill the lines for a flushing or cleaning sequence.

[0037] The controller 220 may control the operation of the pump mechanism 216. In some embodiments, the controller 220 may be in communication with or include a processor and / or a user interface. The operation of the pump mechanism 216 may be automatic or user controlled. In some embodiments, the user may set parameters, via the user interface, for when to activate the pump mechanism 216, for example, to provide additional liquid for cleaning the imaging device. In some embodiments, the controller 220 may activate the pump mechanism 216 after each wash sequence to fill the liquid lines for a subsequent wash sequence. In some embodiments, the controller 220 may activate the pump mechanism 216 to fill the liquid lines in response to an indication that the imaging device is positioned for cleaning (e.g., based on signals received by the controller 220 from one or more sensors). In some embodiments, the controller 220 may activate the pump mechanism 216 to fill the liquid line in response to detecting a drop in pressure or volume in the liquid line (e.g., based on signals received by the controller 220 from one or more sensors). As described above, a gas source 260 may be used to pressurize and deliver the liquid through the fluid delivery system 210.

[0038] A robotic system 280 may be operably coupled to the fluid delivery system 210. The robotic system 280 may also be operably coupled to an imaging device (e.g., imaging device 192). The robotic system 280 may be configured to analyze image data from a system including an imaging device to determine if the imaging device requires cleaning. In some embodiments, the robotic system 280 may be configured to indicate when to initiate a cleaning sequence. For example, the robotic system 280 may display an indication via a user interface to initiate a cleaning sequence. In such embodiments, a user may then instruct the fluid delivery system 210 to initiate a cleaning sequence. Additionally or alternatively, the robotic system 280 may be configured to automatically initiate a cleaning sequence. For example, the robotic system 280 may be configured to transmit an instruction to the controller 220 of the fluid delivery system 210 to initiate a cleaning sequence. The controller 220 may be configured to initiate a cleaning sequence based on instructions received from the robotic system 280 (e.g., by controlling the pump mechanism 216 to prime the liquid lines with liquid; activating gas delivery to drive delivery of a predetermined volume of liquid, etc.). In some embodiments, a manipulator included in the robotic system 280 may be configured to automatically initiate a cleaning sequence when the imaging device requires cleaning. For example, an end effector of the manipulator may be configured to provide an input into the fluid delivery system 210 (e.g., pressing a button, selecting an icon in a touch screen interface, or mechanically providing some other input) so that the fluid delivery system 210 can initiate a cleaning sequence when the robotic system 280 determines that the imaging device requires cleaning.

[0039] In some embodiments, the robotic system 280 may be configured to indicate (e.g., via a user interface) the type of cleaning and / or the intensity of cleaning. In such embodiments, a user may control the fluid delivery system 210 to control the amount of fluid delivered for cleaning, the pressure at which the fluid is delivered for cleaning, and / or the duration at which the fluid is delivered for cleaning. Additionally or alternatively, the robotic system 280 may be configured to transmit instructions to the controller 220 to control the fluid delivery system 210 to control the amount of fluid delivered for cleaning, the pressure at which the fluid is delivered for cleaning, and / or the duration at which the fluid is delivered for cleaning. In some embodiments, a manipulator included in the robotic system 280 may be configured to automatically control the fluid delivery system 210 to control the amount of fluid delivered for cleaning, the pressure at which the fluid is delivered for cleaning, and / or the duration at which the fluid is delivered for cleaning.

[0040] In some embodiments, the robotic system 280 may be optionally coupled to the trocar 230, e.g., to receive data and / or send data to the trocar 230. For example, the robotic system 280 may be configured to receive data from one or more sensors located within the trocar 230. Alternatively or additionally, a manipulator of the robotic system 280 may be coupled to the trocar 230, e.g., to manipulate the trocar 230 during initial insertion of the trocar 230, removal of the trocar 230, etc., and / or to maintain the position of the trocar 230, etc.

[0041] FIG. 3 provides a more detailed view of the fluid connections between the fluid source (gas source 360, liquid reservoir 314), controller 320, connector 340, and trocar 330 of a cleaning or fluid delivery system 310 according to one embodiment. Fluid delivery system 310 may be structurally and / or functionally similar to other fluid delivery systems described herein, including, for example, fluid delivery system 110 in FIG. 1 and fluid delivery system 210 in FIG. 2. As shown, fluid delivery system 310 includes controller 320. Fluid delivery system 310 may be fluidly coupled to trocar 330 (e.g., structurally and / or functionally similar to trocar 130 in FIG. 1), and optional gas source 360 ​​(e.g., structurally and / or functionally similar to gas source 160 in FIG. 1). Controller 320 may include a processor 322, a gas control valve 324, and a pump actuator 326. A liquid reservoir 314 may be fluidly coupled to a liquid supply line 372 with a pump mechanism 316 disposed along the coupling or line to control the delivery of the liquid. A gas source 360 ​​may be fluidly coupled to a gas supply line 362 with a gas control valve 324 disposed along the coupling or line to control the delivery of the gas. In some embodiments, a robotic system 380 (e.g., structurally and / or functionally similar to robotic system 180 in FIG. 1 and robotic system 280 in FIG. 2) may be electronically and / or communicatively coupled to the processor 322 to control cleaning sequences for the imaging device.

[0042] In some embodiments, optional connector 340 may house gas supply line 362, liquid supply line 372, and electrical line 382. In some embodiments, connector 340 may include a cylindrical or tubular outer housing defining a lumen for containing gas supply line 362, liquid supply line 372, and electrical line 382. In some embodiments, connector 340 may be composed of insulating material, rubber, plastic, polymer, or any combination thereof. Connector 340 may include a proximal or controller connection portion and a distal or trocar connection portion, each including connection elements for coupling to controller 320 and trocar 330, respectively. In some embodiments, connector 340 may be a cable housing gas supply line 362, liquid supply line 372, and electrical line 382.

[0043] The processor 322 may be coupled to the electrical line 382. In some embodiments, the trocar 330 may include one or more electrical elements (e.g., sensors) disposed within the trocar 330. In such embodiments, the processor 322 may be coupled to the electrical line 382 to send and / or receive data from the electrical elements disposed within the trocar 330. In some embodiments, one or more electrical elements (e.g., sensors) may be disposed external to the trocar 330. In such embodiments, the processor 322 may be coupled to the electrical line 382 to send and / or receive data from those electrical elements disposed external to the trocar 330. An electrical element, such as a sensor (disposed within and / or outside the trocar 330), may be configured to detect when an imaging device (e.g., imaging device 192) is retracted within the trocar to initiate a cleaning sequence. For example, one or more sensors disposed within and / or outside the trocar 330 may detect the position of a distal end of an imaging device positioned within the trocar 330. When the sensor detects that the imaging device has been retracted and / or positioned for cleaning, it may send that data to the processor 322, which may activate the delivery of gas and / or liquid to clean the distal end of the imaging device.

[0044] Optionally, in some embodiments, the processor 322 may be coupled to the robotic system 380 to send and / or receive information to and from the robotic system 380. For example, the robotic system 380 may analyze image data from the imaging device and detect when to initiate a cleaning sequence for the imaging device. The processor 322 may receive data from the robotic system 380 regarding the cleaning sequence and may activate the delivery of gas and / or liquid to clean the distal end of the imaging device. Alternatively, in some embodiments, the processor 322 of the cleaning system 310 may not be operably coupled to the robotic system. In such embodiments, the processor 322 may be configured to control the operation of the cleaning system 310 (e.g., delivery of liquid and / or gas) based on signals received from one or more sensors coupled to the trocar 330, as will be further described with reference to FIGS. 5 and 7A-7B.

[0045] In some embodiments, the processor 322 may be operably coupled to one or more electrical components (e.g., one or more sensors) of the trocar 330 via electrical lines 382. The electrical lines 382 may transmit sensor signals and / or data to the processor 322, for example to cause the processor 322 to initiate delivery of a liquid and / or gas to clean the endoscope. In some embodiments, the electrical lines 382 may include conductive wiring. In some embodiments, the conductive wiring may be composed of copper, silver, brass, gold, titanium, stainless steel, carbon steel, or any combination thereof. In some embodiments, the electrical lines 382 may be housed within the connector 340 and insulated from outside elements.

[0046] The gas source 360 ​​and gas control valve 324 may be fluidly coupled to the trocar 330 via a gas supply line 362. The gas control valve 324 may control the delivery of gas into the trocar 330. The gas control valve 324 may be controlled by the controller 320 (specifically the processor 322) to deliver gas when desired, such as when the imaging device is positioned for cleaning. In some embodiments, the gas supply line 362 may include flexible tubing. In some embodiments, the tubing may be composed of a polymer, polyvinyl chloride (PVC), polyurethane, Tygon®, acrylic, or any other suitable material.

[0047] The pump actuator 326 may actuate the pump mechanism 316 to deliver the liquid to the trocar 330 via the liquid supply line 372. The pump actuator 236 may include an electric motor and / or other drive mechanism for actuating the pump mechanism 316. In some embodiments, the pump mechanism 316 may be a plunger, shaft, or other suitable structure that can be actuated to apply pressure to flexible tubing containing the liquid, for example to pump the liquid. In some embodiments, the pump actuator 326 may be powered by a battery, a wall outlet, or any other suitable power mechanism. In some embodiments, the liquid supply line 372 may include flexible tubing. In some embodiments, the tubing may be composed of a polymer, PVC, polyurethane, Tygon®, acrylic, or any other suitable material.

[0048] The robotic system 380 may be coupled to an imaging system that includes an imaging device insertable within the trocar 330. The robotic system 380 may be configured to detect when the imaging device needs to be cleaned and initiate a cleaning sequence in response to such detection. Optionally, the robotic system 380 may also be coupled to the trocar 330, for example, to send data to or receive data from the trocar 330, to manipulate the trocar 330, and / or to maintain the position of the trocar 330.

[0049] 4 provides a detailed view of a robotic system 480 (e.g., structurally and / or functionally similar to robotic systems 180, 280, and 380, or any other robotic system described herein) for cleaning an imaging device (e.g., imaging device 192 in FIG. 1). The robotic system 480 may include a computing device 482 that may be coupled (e.g., communicatively coupled and / or operably coupled) to a manipulator 486. The computing device 482 may include a processor 483, a memory 484, and an input / output device 485. The manipulator 486 may include one or more motors 487, one or more segments 488, and one or more end effectors 489.

[0050] The computing device 482 may be configured to control a manipulator 486 to manipulate a surgical instrument, an imaging device, and / or a fluid delivery system. The computing device 482 may be any suitable processing device configured to run and / or execute certain functions. Some non-limiting examples of the computing device 482 include computers (e.g., desktops, workstations, personal computers, laptops, etc.), tablets (e.g., Apple iPad®, Samsung Galaxy® Tab, Microsoft Surface®, etc.), mobile devices and smartphones (e.g., Apple iPhone®, Samsung Galaxy®, Google Pixel®, etc.), and the like.

[0051] The computing device 482 may include a processor 483 that may be configured to determine the position and / or orientation of the imaging device during the surgical procedure; the position and / or orientation of the imaging device relative to the trocar 430 during cleaning and during the surgical procedure; whether the imaging device requires cleaning during the surgical procedure; the duration and / or time during the surgical procedure that the imaging device requires cleaning; the position and / or orientation of the imaging device for cleaning the imaging device; and / or the type and / or intensity of cleaning that the imaging device requires, etc. In some embodiments, the processor 483 may be configured to control the manipulator 486 based on one or more of these determinations. For example, based on a determination that the imaging device needs to be cleaned, the processor 483 may be configured to control the manipulator 486 to position the imaging device in a particular position and / or orientation relative to the trocar 430 to initiate a cleaning sequence. In a similar manner, the processor 483 may be configured to control the manipulator 486 to position the imaging device in a particular position and / or orientation relative to the trocar 430 after the cleaning sequence to continue the surgical procedure. In these examples, the processor 483 may be configured to control the manipulator 486 to vary the position and / or orientation of the trocar 430 and / or the imaging device. In some embodiments, the processor 483 may be configured to control the fluid delivery system 410 based on its determination. For example, the processor may be configured to control the fluid delivery system 410 to initiate or control a flush sequence for the imaging device (e.g., select the type of flush and / or the intensity of the flush).

[0052] The processor 483 may be any suitable processing device configured to run and / or execute a set of instructions or code. For example, the processor 483 may be and / or include one or more of a data processor, an image processor, a graphics processing unit (GPU), a physical processing unit, a digital signal processor (DSP), an analog signal processor, a mixed signal processor, a machine learning processor, a deep learning processor, a finite state machine (FSM), a compression processor (e.g., data compression to reduce data rates and / or memory requirements), an encryption processor (e.g., for secure wireless data transfer and / or power transfer), and / or a central processing unit (CPU). The processor may be, for example, a general-purpose processor, a microprocessor, a microcontroller, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), and / or a processor board, etc. The processor 483 may be configured to run and / or execute application processes and / or other modules, processes, and / or functions associated with the system 100. The underlying device technologies may be provided in a variety of component types (e.g., metal-oxide-semiconductor field-effect transistor (MOSFET) technologies such as complementary metal-oxide-semiconductor (CMOS), bipolar technologies such as generative adversarial networks (GANs), polymer technologies (e.g., silicon-conjugated polymers and metal-conjugated polymers metal structures), and / or mixed analog-digital, etc.).

[0053] The memory 484 may be any suitable memory device configured to store data, information, and / or computer code or instructions (such as those described above). In some embodiments, the memory 484 may be or include one or more of a random access memory (RAM), a static RAM (SRAM), a dynamic RAM (DRAM), a memory buffer, an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a read-only memory (ROM), a flash memory, a volatile memory, a non-volatile memory, and combinations thereof, and the like. In some embodiments, the memory 484 may store instructions for causing the processor to execute modules, processes, and / or functions associated with the system 100, such as determining when to initiate a cleaning sequence, positioning an imaging device, controlling a fluid delivery system, and the like.

[0054] The I / O devices 485 may include any suitable input devices that can be configured to receive input from a user; and / or any suitable output devices that can be configured to send output to the manipulator 486, the trocar 430, the imaging system 490, the fluid delivery system 410, and / or the user. In some embodiments, the I / O devices 485 may be user controls, such as a joystick, a remote user control, a keyboard, a trackball, etc., that can receive input from a user. In some embodiments, the I / O devices 485 may be audio devices, such as a microphone and / or a speaker, that receive audio input from a user. In such embodiments, the I / O devices 485 may be display devices (e.g., a display, a touch screen, a microphone, etc.) that display output to a user and / or receive input from a user (e.g., via a touch screen interface).

[0055] In some embodiments, the computing device 482 may transmit signals (e.g., outputs) to the manipulator 486 to control the manipulator 486 to control the fluid delivery system 410, the trocar 430, and the imaging device of the imaging system 490. The manipulator 486 may include two or more segments 488, which may be coupled via joints. The joints may allow for one or more degrees of freedom. For example, the joints may provide translation along one or more axes and / or rotation about one or more axes. The manipulator 486 may include one or more end effectors 489 for engaging and / or interacting with a surgical instrument (e.g., the trocar 430), the imaging system 490, the fluid delivery system 410, etc. For example, the manipulator 486 may include a gripping mechanism that can releasably engage (e.g., grip) the trocar 430 and / or the imaging device such that the manipulator can hold the trocar 430 and / or position or orient the imaging device relative to the trocar 430 before, during, or after a cleaning sequence. Other examples of end effectors include, for example, vacuum engagement mechanisms, magnetic engagement mechanisms, suction mechanisms, and / or combinations thereof. In some embodiments, the manipulator 486 may include more than one end effector 489 such that each end effector is configured to interact and / or engage with one of the trocar 430, the fluid delivery system 410, and / or the imaging device, respectively. For example, the manipulator 486 may include two end effectors 489. A first end effector may be configured to interact and / or engage with the imaging device to control the movement of the imaging device during cleaning. Additionally or alternatively, a second end effector may be configured to interact with and / or engage the trocar 430 to maintain the position of the trocar 430 .

[0056] The manipulator 486 (e.g., segments 488 and / or end effector 489) may be actuated by one or more motors 487. In other words, the motors 487 may actuate the segments 488 and / or end effector 489 of the manipulator 486 such that the manipulator 486 moves. In some embodiments, the manipulator 486 may include one or more sensors for measuring sensory information, including information about the manipulator 486. Examples of sensors include image capture devices, position encoders, torque and / or force sensors, touch and / or tactile sensors, and the like. The sensors may be disposed on or integrated with either the segments 488 or the joints, or a combination of both. The sensory information may be transmitted to one or more I / O devices 485 so that subsequent movement of the manipulator 486 can be based on the sensory information.

[0057] In some embodiments, the robotic system 480 may be or form part of a robotic system for performing a surgical procedure or for actuating an imaging device of the imaging system 490. For example, the robotic system 480 may be integrated into a robotic system configured to perform a surgical procedure. The robotic system 480 may be configured to insert a trocar into an interior portion of a target anatomy (e.g., a body lumen and / or cavity) and maintain the position of the trocar within the interior portion. The robotic system may then insert an imaging device into the body lumen and / or cavity through a channel of the trocar. The robotic system 480 may position the imaging device to capture a view of the body cavity, for example, to provide visual information to the surgeon and / or the robotic system. The robotic system 480 may monitor an image or video feed from the imaging device and, in response to determining that the imaging device needs to be cleaned, may retract the imaging device for cleaning (e.g., via a trocar of a cleaning system as described herein). Such systems, devices, and methods described herein contemplate adapting a surgical robotic system to include cleaning functionality, such as using a trocar-based cleaning system, which may be calibrated as to how to position and / or orient an imaging device relative to the trocar of the cleaning system, how to determine when a cleaning sequence is needed, and / or what type of cleaning sequence to select, etc.

[0058] FIG. 5 provides a detailed view of a trocar 530 (e.g., structurally and / or functionally similar to trocar 130 in FIG. 1) according to one embodiment. As shown, trocar 530 may include a trocar hub 531 and a trocar shaft 532. A trocar channel 533 may extend through the trocar shaft 532. One or more ejaculation ports 336 and / or a liquid / gas interconnect 337 may be integrated or disposed within the trocar shaft 332. In some embodiments, one or more sensors 534 and / or an electronic port 535 may be optionally included within the trocar shaft 532. A vent 538 may also be integrated or disposed within the trocar shaft 332. An electrical line 582 may be coupled to the electronic port 535, while a gas line 562 and a liquid line 572 may be coupled to the liquid / gas interconnect 537. In some embodiments, gas line 562, liquid line 572, and electrical line 582 may be the same as or substantially similar to gas supply line 362, liquid supply line 372, and electrical line 382 described above with reference to Figure 3. As such, certain aspects of gas line 562, liquid line 572, and electrical line 582 will not be described in further detail here.

[0059] The trocar hub 531 is an enlarged portion of the trocar 530 for housing one or more components of the trocar 530. The trocar hub 531 may provide a handle for placing the trocar 530. The trocar shaft 532 is an elongated portion of the trocar 530 and may be connected to the trocar hub 531. During use, the trocar hub 531 may be positioned outside the subject's body, while the trocar shaft 532 (or a substantially majority of the trocar shaft 532) may be positioned within the subject's body.

[0060] The trocar hub 531 and the trocar shaft 532 may collectively define a trocar channel 533 for accommodating an instrument, such as, for example, an imaging device, an obturator, or the like. In some embodiments, the trocar channel 533 may have a diameter of about 1 mm (3 French) to about 10 mm (30 French), including all subranges and values ​​therebetween. For example, the trocar channel 533 may have a diameter of about 10 French, or slightly greater than 10 French, such that the trocar channel 533 may be configured to accommodate an instrument (e.g., an endoscope) having a diameter up to 10 French. During use, the trocar 530 may be positioned within the patient's body such that the channel 533 extends within a body lumen and / or cavity. The channel may thus provide access to a body lumen and / or cavity, such as, for example, for positioning one or more instruments within the body lumen and / or cavity. The trocar 530 may be positioned through an incision in the subject's body. In some embodiments, an obturator (e.g., obturator 690 in FIG. 6) may be positioned within the trocar channel 533 while the trocar is positioned within the body, and then removed after the distal end of the trocar is positioned within the body lumen and / or cavity. Another instrument (e.g., an imaging device) may then be positioned within the trocar channel 533 after the obturator is removed. Further details of the obturator are described with reference to FIG.

[0061] Trocar 530 may form part of a cleaning system for an imaging device, such as the system described above with reference to Figure 1. As such, trocar 530 may include components capable of facilitating a cleaning or flushing sequence associated with the imaging device. In particular, trocar 530 may include one or more ports (e.g., electronic port 535, jet port 536, liquid / gas port) and / or one or more sensors 534.

[0062] In some embodiments, the trocar 530 may optionally include a liquid / gas interconnect 537. The liquid / gas interconnect 537 may be configured to combine the liquid and gas streams into one output stream. The liquid / gas interconnect 537 receives feeds from the gas line 562 and the liquid line 572. The liquid / gas interconnect 537 may include a collection of valves and tubes to control the delivery of fluids (e.g., gas and / or liquid). In some embodiments, instead of being integrated or disposed within the trocar 530, the liquid / gas interconnect 537 may be integrated or disposed within a connector coupled to the trocar 530 (e.g., the trocar connection or distal connection of the connector 340). In such embodiments, the output stream from the liquid / gas interconnect 537 may be coupled to a liquid / gas port integrated or disposed within the trocar shaft 532.

[0063] In some embodiments, the trocar 530 may optionally include one or more sensors 534. The sensors 534 may detect whether a device (e.g., obturator, imaging device) is in the trocar channel 533; and / or the position and / or orientation of the device in the trocar channel 533. The sensors 534 may trigger deployment of liquid and / or gas through the ejection port 536 upon detecting that the device is in a cleaning position and / or orientation. For example, the sensors 534 may trigger deployment of liquid and / or gas when the device is retracted into the trocar channel 533 such that at least one sensor 534 detects the device. The sensors 534 may be coupled to a controller (e.g., controller 220) via the electronic port 535 and the electrical line 582. As such, the sensors 534 may send a signal to the controller to detect the position and / or orientation of the device. The controller may trigger the delivery of liquid and / or gas into the trocar channel 533 via one or more ejection ports 536 in response to detecting that the device is in a position and / or orientation for cleaning. In some embodiments, the trocar 530 may include one, two, three, four, five, six, seven, nine, ten, or at least about ten sensors 534. For example, in some embodiments, the trocar 530 may include a sensor 534 that may be configured to detect when an instrument (e.g., an imaging device) is in proximity to the sensor (e.g., based on light detected by the sensor being above a threshold value), and in response to detecting the light, delivery of liquid and / or gas may be triggered (e.g., via the controller). In some embodiments, the trocar 530 may include a first sensor that detects when an instrument (e.g., an imaging device) is initially inserted into the trocar channel 533; and a second sensor that detects when an instrument previously inserted into the trocar channel 533 is retracted for cleaning.In such an embodiment, the first sensor, upon detecting that an instrument is inserted within the trocar channel 533, may signal the controller not to initiate the irrigation sequence as the instrument passes the second sensor. Thereafter, upon detection of the instrument by the second sensor (e.g., in response to retraction of the instrument), the second sensor may signal the controller to initiate the irrigation sequence. Sensor 531 may include one or more optical sensors, photoelectric sensors, pressure sensors, infrared sensors, force sensors, position sensors, piezoelectric sensors, mechanical sensors, and the like.

[0064] An optional electronic port 535 may couple the sensor 534 to electrical lines 582 and other electronic components of the cleaning system (e.g., controller 220). In some embodiments, the electronic port 535 is configured to provide power to the sensor 534. In some embodiments, the electronic port 535 is configured to send data to or receive data from the sensor 534.

[0065] Although a sensor 534 and an electronic port 535 are described herein, it may also be appreciated that the trocar 530 (and other trocars of the cleaning systems described in this disclosure) do not include any electronic components. In other words, the trocar 530 may not include the sensor 534, the electronic port 535, or other electronic components. Such omission of electronic components may reduce the complexity, and thus the manufacturability and cost, of the trocar 530. The trocar 530, when used with a robotic system as described herein (e.g., robotic systems 180, 280, 380, etc.), need not include electronic components, such as to detect movement of the imaging device within the trocar channel 533 and to determine when to initiate a cleaning sequence. Instead, the robotic system may be configured to determine when a cleaning sequence is needed and / or to position the imaging device for cleaning. In such a case, the robotic system may send a signal to the fluid delivery system (e.g., fluid delivery system 210) to cause the fluid delivery system to initiate a cleaning sequence. Additionally, a robotic system may position and / or orient the imaging device relative to the ejection port 536 for suitable cleaning by the trocar 530 .

[0066] The ejection port 536 ejects gas and / or liquid (e.g., an irrigation solution) into the trocar channel 533, e.g., to flush a device, such as an imaging device, positioned within the trocar channel. In some embodiments, the ejection port 536 may be angled retrograde or backward toward the proximal end of the trocar 330 such that the ejection port 536 ejects gas and / or liquid in a proximal direction, e.g., toward the distal end of the instrument. In some embodiments, the trocar 530 may include a single ejection port configured to generate a spray, e.g., to clean the distal end of the imaging device. In some embodiments, the trocar 530 may include multiple ejection ports for generating a spray. In some embodiments, multiple ejection portions may be set at different angles and / or orientations to cover a larger area within the trocar channel 533.

[0067] During use, a high pressure gas source may be used to deliver a set volume (e.g., irrigation solution) into the trocar channel 533. A high pressure gas source and a liquid source may be coupled to the liquid / gas interconnect 537 via gas line 562 and liquid line 572, respectively. The liquid / gas interconnect 537 may combine the high pressure gas with the liquid and allow the high pressure gas to draw and eject a set volume of liquid into the trocar channel 533 for each irrigation sequence. In some embodiments, the high pressure gas may be delivered at a pressure of at least about 20 psi to at least about 50 psi, including all subranges and values ​​therebetween. For example, in one embodiment, the high pressure gas may be delivered at a pressure of at least about 30 psi, at least about 35 psi, or at least about 40 psi. Each irrigation sequence may last from about 100 to about 500 ms, including all subranges and values ​​therebetween. For example, in one embodiment, the wash sequence may be at least about 100 ms to about 300 ms, including 200 ms.

[0068] The liquid delivered by the ejection port 536 may include water, saline, a buffer solution, or a biocompatible surfactant. For example, the liquid or cleaning solution may include a mixture of water and a surfactant. The mixture may include at least about 10% surfactant, about 15% surfactant, about 20% surfactant, about 25% surfactant, about 30% surfactant, about 35% surfactant, about 40% surfactant, or a higher amount of surfactant to water. During use involving cleaning of the imaging device, the distal end of the imaging device may be coated with a surfactant solution before being inserted into the trocar channel 533. A cleaning solution with a certain percentage of surfactant may then be used to clean the distal end of the imaging device, for example, in one or more cleaning sequences when the imaging device is retracted. The presence of a surfactant in the cleaning solution may create a hydrophobic layer on the distal end of the imaging device, which may reduce fogging, water accumulation, and other types of accumulation on the distal end of the imaging device.

[0069] The vent 538 may be fluidly coupled to the trocar channel 533. The vent 538 may be configured to allow for the release of gas that builds up during surgery. In some embodiments, the vent 538 may be a passive vent, such as, for example, an opening that allows gas to exit the body lumen and / or cavity via the trocar channel 533 and the vent 538. Alternatively, the vent 538 may be coupled to a vacuum source or other active component that may be used to regulate pressure within the body lumen and / or cavity.

[0070] FIG. 6 provides a detailed view of an obturator 690 according to one embodiment. As shown, obturator 690 includes an obturator hub 692, an obturator shaft 694, and an optional obturator channel 693 that extends the length of the obturator 690. As shown, obturator 690 may be inserted into a trocar channel 633. In some embodiments, trocar channel 633 may be the same as or substantially similar to trocar channel 533 as described above with reference to FIG. 5. As such, certain aspects of trocar channel 633 will not be described in further detail here.

[0071] The obturator shaft 694 has a sharp edge to facilitate initial placement of the trocar within the body lumen and / or cavity. For example, the distal end of the obturator shaft 694 may form a sharp penetrating tip with the distal end of the trocar, and the penetrating tip may be used to cut through tissue while the trocar and obturator 690 are inserted through the tissue into the body lumen and / or cavity. In some embodiments, an imaging device may be placed within the obturator channel 693 during placement of the obturator 690 within the body lumen and / or cavity. In such embodiments, the imaging device may be positioned within the obturator channel 693 and used to capture image data of the patient's anatomy as the obturator 690 is inserted into the body lumen and / or cavity. In some embodiments, the obturator 690 may be composed of a polymer, polyethylene, polypropylene, PVC, polycarbonate, polystyrene, or any other suitable material.

[0072] Figure 7A depicts a trocar 730 and obturator 790 of a cleaning system according to embodiments. As seen in Figure 7A, trocar 730 (e.g., structurally and / or functionally similar to trocar 530 in Figure 5) may include a trocar channel 733 (e.g., structurally and / or functionally similar to trocar channel 533 in Figure 5), a trocar hub 731 (e.g., structurally and / or functionally similar to trocar hub 531 in Figure 5), and an electronics port 735 (e.g., structurally and / or functionally similar to electronics port 535 in Figure 5). Trocar 730 may also include a liquid / gas port 703 and / or a liquid / gas interconnect (e.g., structurally and / or functionally similar to liquid / gas interconnect 537 in Figure 5). Liquid / gas port 703 may be configured to receive a volume of liquid and / or gas, which may be delivered to an ejection port 736 at the distal end of trocar 730. Ejection port 736 may be structurally and / or functionally similar to other ejection ports described herein, including, for example, ejection port 536 in FIG.

[0073] FIG. 7B provides a more detailed view of the distal end of trocar 730, showing the ejaculation port 736 and one or more openings or transparent sections 717. The ejaculation port 736 may be configured to deliver one or more predetermined volumes or amounts of liquid and / or gas into the trocar channel 733. The ejaculation port 736 may be fluidly coupled to the liquid / gas port 703 via the passageway or channel 702. The opening or transparent section 717 may be configured to facilitate the use of one or more sensors. Trocar 730 may include one or more sensors (not depicted but similar to those described above with reference to FIG. 5) that may be used to detect the position of the distal end of an endoscope or other instrument within the trocar channel 733. In one embodiment, the one or more sensors may be light or optical sensors configured to detect when light is present within the trocar channel, for example as an indication when the distal end of the endoscope is near the sensor. The one or more sensors may be positioned within groove or channel 716 behind an opening or transparent section 717. Groove or channel 716 may also house wires, flexible circuit connections, and / or other electrical components 728 that operably couple the one or more sensors to an electrical port 735. As described further below, electrical port 735 may be operably coupled to a controller (such as controller 220, 320) of the cleaning system, such as to control actuation of trocar 730 and / or delivery of liquid and / or gas.

[0074] In use, an endoscope may be disposed within the trocar channel of the trocar 730, and one or more optical sensors may be disposed proximate the ejection port 736 of the trocar 730. In particular, at least one light source may be disposed at the same point along the longitudinal length of the trocar as the ejection port 736. The distal end of the endoscope may emit light, such as to provide illumination within the body cavity to capture image data. When the endoscope is pulled back or retracted within the trocar channel, such as to initiate a flushing sequence, light emitted by the endoscope may be detected by the optical sensor. In some embodiments, the optical sensor may be configured to detect when the level of light within the trocar channel is greater than a predetermined threshold or has changed by a predetermined amount or percentage. In response to there being sufficient light (e.g., the level of light being above a threshold), which may be indicative of the position of the distal tip of the endoscope being in proximity to the ejection port 736, the cleaning system (e.g., via a controller, such as controller 220, 320) may eject a volume of liquid and / or gas from the ejection port 736 to clean the distal tip of the endoscope. In some embodiments, the light sensor may provide sensor data indicative of the level of light in the trocar channel, and the cleaning system controller (e.g., controller 220, 320, etc.) may be configured to determine when the level of light exceeds a threshold for ejecting a volume of liquid. Alternatively, the light sensor may be triggered to send a signal to the cleaning system controller when the level of light in the trocar channel exceeds a threshold. Although this exemplary cleaning operation is provided herein with reference to a light sensor, it may be appreciated that other types of sensors, including, for example, pressure sensors, motion sensors, etc., may also be used with the trocar-based cleaning system as described herein.

[0075] Obturator 790 (e.g., structurally and / or functionally similar to obturator 690 in FIG. 6) may include obturator hub 792 (e.g., structurally and / or functionally similar to obturator hub 692 in FIG. 6) and obturator shaft 794 (e.g., structurally and / or functionally similar to obturator shaft 694 in FIG. 6). Such components have been described above with reference to FIGs. 1-6 and therefore such components will not be described again in detail here.

[0076] Further suitable examples of trocars and obturators of the cleaning system are described in U.S. Provisional Patent Application No. 63 / 320,018, entitled "CLEANING DEVICES AND SYSTEMS FOR SURGICAL INSTRUMENTS INCLUDING GAS AND LIQUID DELIVERY AND VENTING," filed on March 15, 2022, and U.S. Provisional Patent Application No. 63 / 320,023, entitled "CLEANING DEVICES AND SYSTEMS FOR SURGICAL INSTRUMENTS INCLUDING TROCARS WITH SENSING AND FLUID DELIVERY," filed on March 15, 2022, the entire disclosures of each of which are incorporated by reference herein.

[0077] In some embodiments, a robotic system (not depicted) may be configured to control the insertion, positioning, and / or actuation of trocar 730. For example, the robotic system may be configured to couple to a portion of trocar 730, such as, for example, a trocar hub. The trocar hub may include elements, such as indentations, protrusions, slots, etc., for being grasped, for example, by a manipulator of the robotic system. In some embodiments, the robotic system may also be configured to attach to obturator 790, for example, via an obturator hub. The robotic system may be configured to insert trocar 730 and obturator 790 together into a body lumen and / or cavity, and then decouple and remove the obturator from the trocar channel. Alternatively, in some embodiments, trocar 730 and obturator 790 may be manually inserted (e.g., by a surgeon) into a body lumen and / or cavity. The robotic system may then optionally be coupled to trocar 730 and / or configured to insert an imaging device (e.g., an endoscope) into the trocar channel. The robotic system or a cleaning system (e.g., via controller 220, 320, etc.) may then control cleaning of the imaging device. In some embodiments, a trocar 730 may be used in conjunction with a trocar of a robotic system. For example, a trocar of the robotic system may be inserted into trocar 730, and an endoscope may then be inserted through a channel of the trocar of the robotic system and placed within the body cavity. Further details of such embodiments are described with reference to FIGS. 12A and 12B.

[0078] 8A-8C depict the use of an adapter 895 to calibrate the position and / or orientation of an imaging device 890 (e.g., structurally and / or functionally similar to imaging device 192 in FIG. 1 ) relative to a trocar 830 (e.g., structurally and / or functionally similar to trocars 130, 530, and 730). For example, adapter 895 may be configured to calibrate the position and / or orientation of imaging device 890 for a cleaning procedure using trocar 830. As seen in FIG. 8A , the robotic system may include a manipulator 888 (e.g., structurally and / or functionally similar to manipulator 486 in FIG. 4 ). Manipulator 888 may include two end effectors (e.g., structurally and / or functionally similar to end effector 489 in FIG. 4 ), such as end effector 889a and end effector 889b. Manipulator 888 may be coupled to imaging device 890 via end effector 889b. In a similar manner, manipulator 888 may be coupled to trocar 830 via end effector 889a.

[0079] The adapter 895 may be configured to optimally position the imaging device 890 for a cleaning procedure. For example, the adapter 895 may be sized to position the imaging device 890 in an optimal position (e.g., see FIG. 8C ) relative to the trocar 830 for a cleaning procedure. More specifically, referring back to FIG. 8A , the sizing of the adapter 895 may allow the adapter 895 to set a distance between the proximal end 892 of the imaging device 890 and the proximal end (e.g., trocar hub) 831 of the trocar 830 such that the distal end 891 of the imaging device 890 is optimally positioned for a cleaning procedure (e.g., positioned near the ejection port 836 of the trocar 830). For example, the end effector 889b may be configured to position the imaging device 890 within the trocar 830 such that the distal end 891 of the imaging device 890 is positioned within a channel of the trocar 830. End effector 889b and / or end effector 889a may move imaging device 890 and trocar 830, respectively, in a manner such that imaging device 890 is inserted into trocar 830 in the direction indicated by arrow A. End effectors 889b and 889a may be configured to move imaging device 890 and trocar 830 until adapter 895 prevents imaging device 890 from moving further into trocar 830. When adapter 895 prevents further movement, the position of imaging device 890 relative to trocar 830 may be an optimal position for a cleaning procedure. In particular, distal end 891 of imaging device 890 may be positioned proximally relative to ejection port 836 of trocar 830 when adapter 895 prevents further movement. In such a position, liquid and / or gas delivered into the trocar, such as via liquid / gas channel 804 and ejection port 836, may be sprayed onto the distal end of imaging device 890 for cleaning. In this manner, imaging device 890 may be positioned in an optimal position relative to trocar 830.

[0080] In some embodiments, the adapter 895 may also indicate the orientation of optimal positioning of the imaging device 890 relative to the trocar 830, for example, as depicted in FIG. 8C, when the imaging device 830 is an endoscope with an angled distal end. With an angled distal end, it may be necessary to position the endoscope so that the angled surface of the endoscope faces the ejection port 836, for example, to clean the angled surface. The endoscope may therefore be rotated so that its distal surface 891 is positioned facing the ejection port 836. For example, the adapter 895 may include ridges or other markings that can facilitate alignment or orientation of the endoscope relative to the ejection port 836 of the trocar 830. In particular, the ridges or markings may first be aligned with a side of the endoscope that extends further and then aligned with a marking that indicates the side of the trocar 830 opposite the ejection port 836. Although the orientation of the angled endoscope is described herein, it may be appreciated that the orientation of the angled endoscope does not necessarily affect the cleaning of the endoscope. For example, a liquid / gas spray of sufficient pressure may enable cleaning of the angled surface of the endoscope even when the angled surface of the endoscope is not facing the jetting portion 836. Pressures of, for example, about 20 psi to about 50 psi may be used to create a sufficient spray of liquid / gas in the trocar channel to clean the surface of any type of endoscope, including, for example, flat and angled endoscopes.

[0081] 8C, the orifice or ejection port 836 is angled proximally at an orifice angle OA. As discussed above, when the endoscope 803 has an angled distal end, it may be desirable to orient the endoscope so that the angled surface of the endoscope 803 faces the ejection port 836. This configuration allows a substantial amount of the surface of the endoscope 803 to be contacted by the spray of cleaning solution or liquid exiting the ejection port 836. In some embodiments, the orifice angle OA may be from about 5 degrees to about 90 degrees, including all values ​​and subranges therebetween.

[0082] In some embodiments, a cleaning system as described herein may be used to clean a number of different types and / or sizes of endoscopes. For example, the trocar 830 may have a trocar channel designed to accommodate an endoscope having an outer diameter up to a predefined value (e.g., about 10 French, about 15 French, about 20 French, about 30 French). An endoscope having a diameter that fits within the trocar channel can then be cleaned using the systems and methods described herein, regardless of the size and / or configuration of the endoscope. For example, a trocar channel large enough to accommodate a 10 French endoscope may be configured to clean any endoscope less than or equal to 10 French, including, for example, a 5 French endoscope. The cleaning system may also be designed to clean endoscopes having different distal tip configurations, including, for example, different angles, curvatures, etc. To accomplish this, in some embodiments, the cleaning system described herein may be configured to deliver a spray of liquid and / or gas at a predefined pressure above a threshold that allows for sufficient cleaning of an endoscope of any shape or configuration. In some embodiments, this threshold may be at least about 20 psi to about 50 psi, including, for example, at least about 35 psi. Alternatively, the robotic systems described herein may be calibrated to position different imaging devices at different positions and / or orientations relative to the trocar of the cleaning system, e.g., to facilitate cleaning of such endoscopes.

[0083] 8A-8B depict an adapter with a circular cross-section, it should be readily understood that the adapter may be of any suitable shape and / or size that can position the imaging device 890 at an optimal distance relative to the trocar 830. For example, for a long imaging device (e.g., an imaging device with a very long elongated body), the adapter 895 may be configured to be longer in order to position the imaging device 890 at an optimal distance. Thus, different sized and shaped adapters may be configured for imaging devices of different sizes and / or shapes.

[0084] 9A-9B depict another example adapter 995 for positioning and / or orienting an imaging device 990 (e.g., structurally and / or functionally similar to imaging device 192 in FIG. 1 ) relative to a trocar 930 (e.g., structurally and / or functionally similar to trocars 130, 530, and 730) according to embodiments. In FIGS. 9A-9B , the adapter 995 may include concentric tubes, e.g., 905a, 905b. These concentric tubes, e.g., 905a and 905b, may be positioned in a specific manner relative to each other to position the imaging device 990 at an optimal distance relative to the trocar 930. For example, the concentric tubes 905a, 905b may be locked at a set distance from each other, e.g., to facilitate calibrating / positioning different imaging devices relative to the trocar 930. For example, the concentric tubes 905a, 905b may be rotated relative to one another to lock and unlock positions relative to one another (e.g., unlock in a first direction indicated by arrow B and lock in the opposite direction). When locked, the concentric tubes 905a, 905b may define a set length; the length may be related to a set positioning of the imaging device distal end relative to the trocar 930, for example, to perform a cleaning sequence. For longer or shorter imaging devices and / or different types of imaging devices, the concentric tubes 905a, 905b may be set to different lengths, for example, via translation as diagrammatically illustrated by arrow C, to facilitate optimal positioning of the imaging devices. Thus, the adapter 995 may be used to set different distances for the imaging device 990 and the trocar 930, which may be useful in different applications. For example, the same adapter may be used for different types of imaging devices, different lengths of trocars, and / or different types of targets. For example, if a surgical procedure is being performed on a child, the optimal distance for the imaging device may be different than the optimal distance if the same surgical procedure is being performed on an adult.

[0085] 9A, an imaging device 990 may be coupled to an adapter 995. The imaging device 990 may be inserted into the trocar 930 such that a distal end of the imaging device is inserted into the proximal end 931 of the trocar 930. When the imaging device 990 is in an optimal position and / or orientation relative to the trocar 930, the adapter 995 may contact the hub 931 of the trocar 930, as shown in FIG.

[0086] In some embodiments, one or more of the tubes 995a and / or 995b may include markings on their exterior surfaces that may indicate the relative distance from a proximal portion of the adapter 995 to a distal tip of the imaging device 990, the relative distance from a distal portion of the adapter 995 to a distal tip of the imaging device 990, a reference point that indicates an optimal position for the imaging device 990, the total length of the adapter 995 that is exposed, and / or combinations thereof.

[0087] 10A and 10B depict different types of external sensor systems 1095a, 1095b, 1095a', 1095b' that can be used to sense the position and / or orientation of an imaging device 1090 (e.g., structurally and / or functionally similar to imaging device 192 in FIG. 1) relative to a trocar 1030, 1030' (e.g., structurally and / or functionally similar to trocars 130, 530, and 730) according to embodiments. In some embodiments, a tag (e.g., tag 1095a) may be placed on a portion of the imaging device 1090 (e.g., a base portion of the imaging device 1090) or on a manipulator (e.g., an end effector) of a robotic system. The tag (e.g., tag 1095a) may be any suitable tag. For example, the tag may be a visual or fiducial marker (e.g., a visual marker such as a QR code, a bar code, etc.), a radio frequency identification (RFID) tag, etc. The sensor 1095b may be configured to sense the position of the tag 1095a. Thus, as the imaging device 1090 moves (e.g., traverses) relative to the trocar 1030, the sensor 1095b may detect the position and / or orientation (or change in position and / or orientation) of the portion of the imaging device 1090 (e.g., if the tag is on the imaging device 1090) and / or the position and / or orientation (or change in position and / or orientation) of the manipulator (e.g., if the tag is on the manipulator). The sensed data may be transmitted to the robotic system (e.g., processor 483 in FIG. 4). A computing device of the robotic system may analyze the position and / or orientation of the imaging device 1090 and / or the manipulator. The computing device may compare this position and / or orientation to the position and / or orientation of the trocar 1030 and / or the calibrated / optimal imaging device position for the cleaning sequence.In some embodiments, based on this comparison, the computing device may calculate a position and / or orientation of the imaging device 1090 relative to the trocar 1030. When the position and / or orientation of the imaging device (or the relative position and / or orientation of the imaging device) reaches an optimal position and / or orientation for cleaning, a cleaning procedure may be initiated to clean the imaging device 1090.

[0088] 10B, a sensor 1095b' may be positioned on the hub 1031' of the trocar 1030'. A tag 1095a' may be placed on the imaging device 1090. Thus, the sensor 1095b' may sense the orientation of the imaging device 1090 relative to the trocar 1030'. The sensed information may be transmitted to a computing device in the robotic system. When the relative position and / or orientation reaches an optimal position and / or orientation, the robotic system may be configured to initiate a washing procedure to clean the imaging device 1090.

[0089] 12A and 12B depict another exemplary system for cleaning one or more instruments, such as, for example, an endoscope 1290, according to embodiments. As shown in FIGS. 12A and 12B, a trocar 1240 of a robotic system (e.g., a trocar coupled to a robotic arm or other manipulator (e.g., manipulator 486)) may be inserted or positioned within a trocar channel 1233 of a trocar 1230 of a cleaning system or fluid delivery system. Trocar 1230 may be structurally and / or functionally similar to other trocars of cleaning systems or fluid delivery systems described herein, including, for example, trocars 230, 330, 730, etc.

[0090] The trocar 1230 may include a trocar channel 1233 that may be sized to accommodate a trocar shaft of a trocar 1240 of a robotic system. The trocar 1240 may include a trocar channel 1243 that is sized to accommodate an endoscope 1290. As shown in FIGS. 12A and 12B, the trocar 1240 may be positioned within the trocar channel 1233; i.e., the trocar 1240 may be nested within the trocar 1230, and the endoscope 1290 may then be inserted through the trocar 1240 into the body cavity BC. As with the other trocars of the cleaning systems described herein, the trocar 1230 may include a sensor 1234 and an ejection port 1236. In use, the sensor 1234 may be configured to detect when the distal end 1291 of the endoscope 1290 is positioned for cleaning (e.g., positioned near the ejection port 1236) and may send a signal to a cleaning system controller (e.g., controller 220, 320) to initiate a cleaning sequence.

[0091] In some embodiments, the trocar 1230 may include a hub 1231 designed to receive and / or mate with the hub 1241 of the trocar 1240. For example, the trocar hub 1231 may include a recessed section, receptacle, etc., that can receive the hub 1241 of the trocar 1240. In some embodiments, the trocar hub 1231 and / or the trocar hub 1241 may include magnets, adhesives, and / or other features to increase the engagement or hold between the trocar 1230 and the trocar 1240, such as to stabilize the trocars relative to one another during a surgical procedure. Optionally, in some embodiments, a coupler 1202 may be used to hold the trocar 1240 within the trocar 1230. The coupler 1202 may include a clamp, tie, sleeve, wrap, collar, screw, or other fastening element, or other similar structure to hold the trocar 1240 within the trocar 1230.

[0092] The trocar 1240 may be accommodated within the channel 1233 without extending to the distal end of the trocar 1230. In particular, the trocar 1230 may have a length such that the sensor 1234 and the ejection port 1236 are distal to the distal end of the trocar 1240 when the trocar 1240 is inserted into the channel 1233 to a maximum length L1. The sensor 1234 and the ejection port 1236 are located within a predetermined distance from the distal end of the trocar 1230, which is less than the distance L2 between the distal end of the trocar 1240 and the distal end of the trocar 1230 when the trocar 2140 is inserted into the channel 1233 to a maximum length L1. The sensor 1234 and the ejection port 1236 may be configured to perform cleaning of the endoscope 1290 while the sensor 1234 and the ejection port 1236 remain away from the trocar 1240 (i.e., not blocked by the trocar 1240).

[0093] FIG. 13 depicts another exemplary system for cleaning one or more instruments, such as, for example, an endoscope 1390, according to embodiments. As shown in FIG. 13, a trocar 1330 of a cleaning or fluid delivery system may be inserted into a trocar 1240 of a robotic system (e.g., a trocar coupled to a robotic arm or other manipulator (e.g., manipulator 486)). The trocar 1330 may be structurally and / or functionally similar to other trocars of cleaning or fluid delivery systems described herein, including, for example, trocars 230, 330, 730, etc. For example, the trocar 1330 may include a sensor 1334 and an ejection port 1336, which may be configured to detect when a distal end 1391 of the endoscope 1390 is positioned near the ejection port 1336 for cleaning.

[0094] When the cleaning system's trocar 1330 is positioned within the robotic system's trocar 1340, the trocar 1330 may be designed to extend distally from the trocar 1340. This may ensure or help reduce the accumulation of fluid or moisture within the trocar 1340, such as as a result of irrigation sequences and / or cleaning. Fluid ejected by the trocar 1340 may exit into the body cavity BC.

[0095] Optionally, in some embodiments, a coupler 1302 may be used to hold the trocar 1330 within the trocar 1340. The coupler 1302 may include a clamp, tie, sleeve, wrap, collar, screw, or other fastening element or other similar structure for holding the trocar 1330 within the trocar 1340.

[0096] FIG. 11 depicts a flow of operation 1100 of a robotic system (e.g., structurally and / or functionally similar to robotic system 180 in FIG. 1). At 1102, an imaging device may be inserted into the lumen of a trocar. In some embodiments, the robotic system may be configured to insert the imaging device into the trocar (e.g., via a manipulator and end effector). Additionally or alternatively, a user may insert the imaging device into the trocar. At 1104, a calibration may optionally be performed to identify the position and / or orientation of the imaging device for cleaning. For example, an adapter (e.g., adapters 895 and 995) may be used to calibrate the position and / or orientation of the imaging device relative to the trocar so that the imaging device is in an optimal position for cleaning (e.g., the distal end of the imaging device is positioned proximal to the ejection port of the trocar).

[0097] After identification of the optimal position and / or orientation, the imaging device may be positioned (e.g., at 1106) for the surgical procedure (e.g., via the manipulator and end effector). Optionally, the operations may include determining, at 1108, that the imaging device requires cleaning. For example, a user may analyze images obtained from the imaging device. The user may provide user input (e.g., via a user interface) indicating that the imaging device requires cleaning based on experience. Additionally or alternatively, image data from the imaging device may be analyzed by a robotic system. Based on this analysis, the robotic system may determine that the imaging device requires cleaning. For example, the robotic system may monitor image data from the imaging device to determine when a light level or intensity in the image data falls below a predefined threshold indicative of the imaging device being dirty. As another example, the robotic system may implement a trained machine learning model that can process the image data and provide an output indicative of whether the imaging device is dirty. Additionally or alternatively, the robotic system may determine when the imaging device requires cleaning. For example, the robotic system may determine if a predetermined amount of time has elapsed since the start of a surgical procedure or after a cleaning sequence, and if the predetermined amount of time has elapsed, the robotic system may determine that the imaging device requires cleaning.

[0098] At 1110, the imaging device may be retracted to an optimal position and / or orientation for cleaning. For example, the imaging device may be retracted to an optimal position and / or orientation relative to the trocar as determined at 1104. A cleaning sequence may be initiated at 1112. For example, the robotic system may send a signal to the fluid delivery system to initiate the cleaning sequence. A controller of the fluid delivery system may initiate the cleaning sequence, such as by activating a pressurized gas to deliver a predetermined volume of liquid into the trocar channel. Additionally or alternatively, the robotic system may directly interact with the fluid delivery system (e.g., via a manipulator or end effector) to initiate the cleaning sequence. Additionally or alternatively, the controller of the fluid delivery system may receive a signal from one or more sensors disposed within the trocar indicating that the imaging device is positioned for cleaning (e.g., the distal end of the endoscope is positioned near the ejection port). In response to receiving a signal from the sensor, the controller may initiate the cleaning sequence. In such embodiments, the controller of the fluid delivery system and the robotic system may be separate devices and need not be operatively connected to each other. This setup may allow the trocar of the cleaning system or fluid delivery system as described herein to be used with many different types of robotic systems. In some embodiments, the cleaning sequence may involve propelling a predetermined volume of liquid with pressurized gas; and then delivering pressurized gas into the trocar channel during and / or after ejection of the volume of liquid.

[0099] At 1114, a drying / defogging sequence may optionally be initiated (e.g., by sending a signal to the fluid delivery system). During the drying / defogging sequence, pressurized gas may be spurted into the trocar channel at the imaging device, e.g., to dry the end of the imaging device. At 1116, the robotic system may optionally verify that the imaging device is sufficiently clean. For example, the robotic system may obtain image data from the imaging device to verify that the imaging device is sufficiently clean. If the imaging device is not sufficiently clean, the operation may loop back to 1112 to start the cleaning sequence again. If the imaging device is sufficiently clean, the robotic system may again position the imaging device for the surgical procedure (e.g., at 1106). In some embodiments, the operation may optionally include determining (e.g., at 1122) that the surgical procedure is complete; and removing the imaging device from the trocar lumen after the procedure is complete (e.g., at 1124).

[0100] Although the examples provided herein are described with respect to cleaning an imaging device, it can be appreciated that other types of surgical devices can also be cleaned using the systems, devices, and methods described herein. For example, surgical instruments other than an endoscope positioned within a trocar can also be cleaned using the systems, devices, and methods described herein.

[0101] Various concepts may be embodied as one or more methods, at least one example of which is provided above. The acts performed as part of the method may be ordered in any suitable manner. Thus, embodiments may be constructed in which acts are performed in a different order than illustrated, including performing some acts simultaneously even though they are shown in the illustrated embodiments as sequential acts. In other words, it should be understood that such features are not necessarily limited to a particular order of execution, but rather may be limited to any number of threads, processes, services, and / or servers, etc., that may be executed serially, asynchronously, concurrently, in parallel, simultaneously, and / or synchronously in a manner consistent with the present disclosure. As such, some of these features may be inconsistent with each other in that they may not exist simultaneously in a single embodiment. Similarly, some features may be applicable to one aspect of the innovation of the present invention and not applicable to other aspects.

[0102] As used herein, particularly in the embodiments, the term "about" or "approximately," when preceding a numerical value, indicates a range of plus or minus 10%. When a range of values ​​is provided, it is understood that each intermediate value between the upper and lower limits of the range, to one-tenth of the unit of the lower limit unless the context clearly indicates otherwise, and any stated or intermediate value within the stated range is also encompassed within the disclosure. The upper and lower limits of these subranges may be independently included within the subranges, and are also encompassed within the disclosure, subject to any specifically excluded limit being included in the stated range. When a stated range includes one or both limits, ranges excluding either or both of those included limits are also included in the disclosure.

[0103] The phrase "and / or" as used herein and in the embodiments should be understood to mean "either or both" of the elements so connected, i.e., conjunctively present in some cases and disjunctively present in other cases. Multiple elements listed with "and / or" should be interpreted in the same manner, i.e., as "one or more" of the elements so connected. Elements other than the elements specifically identified by the "and / or" clause may optionally be present, whether or not related to those elements specifically identified. Thus, as a non-limiting example, a reference to "A and / or B," when used in conjunction with open-ended language such as "comprising," may refer to A only in one embodiment (optionally including elements other than B); B only in another embodiment (optionally including elements other than A); both A and B (optionally including other elements), etc.

[0104] "Or" as used in the specification and embodiments should be understood to have the same meaning as "and / or" as defined above. For example, when separating items in a list, "or" or "and / or" should be interpreted as inclusive, i.e., including at least one of a number or list of elements, but also including more than one, and optionally including additional items not listed. Only terms clearly indicating the contrary, such as "only one of" or "exactly one of," or "consisting of," when used in the embodiments, refer to including exactly one element of a number or list of elements. In general, the term "or" as used herein should be construed as indicating exclusive alternatives (i.e., "one or the other but not both") only when preceded by terms of exclusivity, such as "either," "one of," "only one of," or "exactly one of." "Consisting essentially of," when used in the embodiments, has its ordinary meaning as used in the field of patent law.

[0105] As used herein and in the embodiments, the phrase "at least one" in reference to a list of one or more elements should be understood to mean at least one element selected from any one or more elements in the list of elements, but does not necessarily mean including at least one of each element specifically listed in the list of elements, and does not exclude any combination of elements in the list of elements. This definition also allows for the optional presence of elements other than those specifically identified in the list of elements to which the phrase "at least one" refers, whether or not related to those specifically identified elements. Thus, as a non-limiting example, "at least one of A and B" (or, equivalently, "at least one of A or B," or, equivalently, "at least one of A and / or B") can refer to, in one embodiment, at least one A, optionally including more than one A, and no B (and optionally including elements other than B); in another embodiment, at least one B, optionally including more than one B, and no A (and optionally including elements other than A); in yet another embodiment, at least one A, optionally including more than one A, and at least one B, optionally including more than one B (and optionally including other elements), etc.

[0106] In the embodiments, and in the above specification, all transitional phrases, such as "comprising," "including," "carrying," "having," "containing," "involving," "holding," and "composed of," are to be understood as open-ended, i.e., in the sense of including but not limited to. Only the transitional phrases "consisting of" and "consisting essentially of" shall be closed or semi-closed transitional phrases, respectively, as defined in the United States Patent Office Manual of Patent Examining Procedures, Section 2111.03.

[0107] As used herein, the singular forms "a," "an," and "the" include plural referents unless the context clearly indicates otherwise. Thus, for example, the term "a member" is intended to mean a single member or combination of members, and "a material" is intended to mean one or more materials, or combinations thereof.

[0108] The term "substantially," when used in reference to "cylindrical," "linear," and / or other geometric relationships, is intended to convey that the structure so defined is nominally cylindrical or linear, or the like. As an example, a portion of a support member described as being "substantially linear" is intended to convey that, although linearity of the portion is desirable, some non-linearity may occur in the "substantially linear" portion. Such non-linearity may result from manufacturing tolerances, or other practical considerations (e.g., pressure or force applied to the support member, etc.). Thus, a geometric construct modified by the term "substantially" includes such geometric characteristics within a tolerance of plus or minus 5% of the described geometric construct. For example, a "substantially linear" portion is one that defines an axis or centerline that is within plus or minus 5% of being linear.

[0109] As used herein, the terms "set" and "plurality" refer to a plurality of features or a single feature with multiple parts. For example, when referring to a set of devices, the set of devices may be considered as one device with multiple parts, or the set of devices may be considered as multiple separate devices. Thus, a set of parts, or multiple parts, may include multiple parts that are either contiguous or discontinuous from each other. Multiple particles or multiple materials may also be made from multiple items that are produced separately and then bonded together (e.g., via mixing, adhesive, or any suitable method).

[0110] Although specific embodiments of the present disclosure have been outlined above, numerous alternatives, modifications, and variations will be apparent to those skilled in the art. Accordingly, the embodiments described herein are intended to be illustrative rather than limiting. Various changes may be made without departing from the spirit and scope of the present disclosure. Where the methods and steps described above indicate that certain events occur in a certain order, those skilled in the art having the benefit of this disclosure will recognize that the ordering of certain steps may be modified and that such modifications are consistent with variations of the present invention. In addition, certain steps may be performed simultaneously in parallel processing where possible, or sequentially as described above. While embodiments have been specifically illustrated and described, it will be understood that various changes in form and details may be made.

Claims

1. a shaft having a distal end capable of being positioned within a target anatomy, the shaft including an ejection port disposed near the distal end of the shaft, the ejection port configured to eject a volume of liquid or gas into a channel to clean the distal end of the instrument; a hub coupled to a proximal end of the shaft, the hub and the shaft collectively defining a channel for receiving a trocar of a robotic system; a sensor disposed proximate the ejection port, the sensor configured to detect when a distal end of an instrument disposed within a channel of the trocar is disposed proximate the ejection port; and a controller operably linked to the sensor, receiving a signal from the sensor indicative of the distal end of the instrument being disposed proximate the ejection port; and and activating a cleaning sequence by triggering a discharge of said volume of liquid or gas in response to receiving said signal from said sensor. The controller configured An apparatus comprising:

2. The device of claim 1 , wherein the hub includes a recess or receptacle for receiving at least a portion of a hub of the trocar of the robotic system.

3. one or more coupling elements configured to couple the trocar of the robotic system to the shaft when the trocar is received within the channel.

13. The apparatus of claim 1, further comprising:

4. The device of claim 3 , wherein the one or more coupling elements comprise a clamp, a tie, or a collar.

5. The device of claim 3 , wherein the one or more coupling elements comprise at least one of a magnet or an adhesive.

6. The device of any one of claims 1 to 5, wherein the shaft has a length such that when the trocar is fully received within the channel, the distal end of the trocar is proximal to the distal end of the shaft.

7. The device of claim 6 , wherein the ejection port and the sensor are disposed distal to a distal end of the trocar when the trocar is fully received within the channel.

8. a shaft defining a channel for receiving an instrument, the shaft having a distal end positionable within the anatomy of a subject, the shaft including an ejection port configured to eject a volume of liquid or gas into the channel for cleaning the distal end of the instrument; a fluid delivery system coupled to the shaft and configured to control the ejection of the volume of liquid or gas; a robotic system coupleable to the instrument and configured to retract the instrument to a predetermined position; and a processor operably coupled to the robotic system and the fluid delivery system, the processor configured to control the fluid delivery system to cause the ejection of the volume of liquid or gas in response to the instrument being retracted to the predetermined position. A system comprising:

9. The system of claim 8 , wherein the robotic system comprises the processor.

10. the instrument is an endoscope, and the processor is further configured to monitor image data captured by the endoscope to detect when a lens of the endoscope requires cleaning; the processor is configured to, in response to detecting that the lens of the endoscope requires cleaning, cause the robotic system to retract the endoscope to the predetermined position. The system according to any one of claims 8 to 9.

11. 11. The system of claim 10, wherein the processor is configured to detect that a lens of the endoscope requires cleaning based on light intensity in image data captured by the endoscope.

12. The system of any one of claims 8 to 11, wherein the predetermined position is when a distal end of the instrument is positioned near an ejection port.

13. an adapter configured to couple to the instrument, the adapter configured to be used to indicate to the robotic system a length to retract the instrument to place the instrument in the predetermined position; The system of any one of claims 8 to 12, further comprising:

14. a sensor disposed on at least one of the instrument or the trocar configured to detect when the instrument is retracted to the predetermined position. The system of any one of claims 8 to 12, further comprising:

15. 15. The system of claim 14, wherein the sensor is configured to detect a position of a tag to detect when the instrument has been retracted to the predetermined position.

16. positioning a trocar within a shaft of a cleaning system such that a distal end of the trocar is disposed within a channel of the shaft, the shaft having a proximal end connected to a hub and a distal end disposed within the body cavity; securing a proximal end of the trocar to the hub after the trocar is positioned within the shaft; inserting an endoscope into a channel of the trocar such that a distal end of the endoscope extends distally from the distal end of the trocar, into the channel of the shaft, and into the body cavity; and retracting the endoscope so that the distal end of the endoscope is within the channel of the shaft and near the ejection port in the shaft for cleaning by a volume of liquid and gas ejected into the channel by an ejection port. The method includes:

17. detecting that a distal end of an endoscope is proximate to an ejection port of a first trocar disposed within a body cavity, the endoscope being supported within a channel of a second trocar disposed within a channel of the first trocar; activating delivery of pressurized gas in response to said detection to propel and deliver a predetermined volume of liquid to said first trocar; and delivering the pressurized gas and the predetermined volume of liquid through the outlet port into the channel of the first trocar to clean the distal end of the endoscope. The method includes:

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