Ultrasonic aspirator device and operation

Abstract

The surgical device includes a robotic system having a plurality of arm members. The plurality of arm members are each coupled to an adjacent arm member, and at least one of the plurality of arm members includes a first receiving portion and a second receiving portion. The device further includes a suction device having a handpiece, a connector extending from the handpiece, a horn coupled to the handpiece, and a flu coaxially disposed around the horn. The handpiece is received by the first receiving portion and the flu is received by the second receiving portion such that the suction device remains axially aligned with at least one of the plurality of arm members when the robotic system is operated.

Description

Technical Field

[0001] (Technical Field) The present disclosure generally relates to surgical devices and methods for performing surgery, and more particularly to robotically controlled surgical devices and methods for performing surgery using a robotic system.

Background Art

[0002] (Background) General surgical techniques, including minimally invasive surgery ("MIS") such as laparoscopy, are generally considered to be safe and effective techniques for treating various diseases. However, these techniques often require at least one surgical assistant to assist in manipulating the instruments during the procedure. Furthermore, these types of procedures can be physically demanding for surgeons, especially for procedures that require a significant amount of time, precision, and control. Thus, there is a need for a surgical device that can enable a single individual to minimize the risks generally associated with user errors caused by fatigue and / or other issues associated with instrument manipulation while performing surgery.

Summary of the Invention

Means for Solving the Problems

[0003] (Summary) In one embodiment, a surgical device is disclosed. The surgical device includes a robotic system having a plurality of arm members, each of the plurality of arm members being coupled to each adjacent arm member via a joint, and at least one of the plurality of arm members including a first receiving portion and a second receiving portion. The surgical device further includes a suction device, the suction device having a handpiece, a connector extending from the handpiece, a horn coupled to the handpiece via the connector, and a flute coaxially disposed around the horn and coupled to the handpiece via the connector. The handpiece of the suction device is received by the first receiving portion of at least one of the plurality of arm members, and the flute of the suction device is received by the second receiving portion of at least one of the plurality of arm members such that the suction device remains axially aligned with at least one of the plurality of arm members when the robotic system is operated.

[0004] In another embodiment, a surgical device is disclosed. The surgical device includes a robotic system having a plurality of arm members, each of the plurality of arm members being coupled to an adjacent arm member via a joint, and at least one of the plurality of arm members including a first receiving portion and a second receiving portion. The surgical device further includes a suction device having a handpiece and a connector extending from the handpiece. The handpiece is received by the first receiving portion such that the connector extends from the first receiving portion. The suction device is a horn coupled to the handpiece via the connector, the horn having a distal end, a proximal end, and a body extending therebetween, and a flute coaxially disposed around the horn and coupled to the handpiece via the connector, the flute having a distal end, a proximal end, and a body extending therebetween, the distal end of the flute being received by the second receiving portion such that the distal end of the horn extends beyond the distal end of the flute and the second receiving portion. The surgical device further includes a console including an irrigation source that provides irrigation fluid to the suction device via an irrigation tube, a suction source that provides suction to the suction device via a suction tube, and a power source that provides power to the suction device and the plurality of arm members. The connector further includes a vent for venting the irrigation tube to the atmosphere when the irrigation source provides irrigation fluid to the suction device.

[0005] In yet another embodiment, a method of performing a surgical procedure is disclosed. The method includes coupling a suction device to a robotic system having a plurality of arm members, at least one of the plurality of arm members including a first receiving portion and a second receiving portion for receiving the suction device, manipulating the position and orientation of the plurality of arm members via a console such that the suction device is moved to an inlet position and an inlet orientation with respect to a target site, inserting the suction device into the target site at the inlet position and the inlet orientation using the plurality of arm members of the robotic system, activating a horn of the suction device using the console such that the horn vibrates within the target site at a predetermined frequency, perfusing the target site by supplying a perfusion fluid through a perfusion tube extending from the console to the suction device via the console, aspirating the target site by generating a vacuum within the suction device using a suction tube extending from the console to the suction device via the console, and removing the suction device from the target site using the plurality of arm members of the robotic system.

[0006] These additional features provided by the embodiments described herein will be more fully understood in light of the following detailed description in conjunction with the drawings.

Brief Description of the Drawings

[0007] (Brief Description of the Drawings) The embodiments depicted in the drawings are illustrative and exemplary in nature and are not intended to limit the subject matter defined by the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings in which like structures are indicated with like reference numerals.

[0008]

Figure 1

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Figure 2

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Figure 3

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Figure 4

[0012]

Figure 5

[0013] (Detailed Description) The embodiments disclosed herein relate to surgical devices and methods for performing a surgical procedure. More specifically, the present disclosure relates to a surgical device including a robotic system and an aspirator, such as an ultrasonic surgical aspirator, coupled to the robotic system so that the robotic system can operate the aspirator during a surgical procedure. In the embodiments described herein, the aspirator may include a horn, such as an ultrasonic horn, a flue coaxially disposed around the horn, and a handpiece for fixedly positioning the flue around the horn. The aspirator may further include a suction tube, an irrigation tube, and a power line used to operate the aspirator during a surgical procedure.

[0014] The robotic system described herein may further include a plurality of arm members connected via a plurality of joints such that the plurality of arm members can rotate and / or move through a plurality of planes to adjust the position of the suction device during a surgical procedure. Further, the robotic system may include a first receiving portion, such as a handpiece receiving portion, that can be used to secure the suction device to the robotic system, and a second receiving portion, such as a flue receiving portion. In these embodiments, the first receiving portion may include at least one first receiving portion port that can be axially aligned with at least one second receiving portion port located within the second receiving portion. The handpiece of the suction device may be coupled to the first receiving portion of the robotic system such that a connector formed on the handpiece extends through at least one first receiving portion port of the first receiving portion and can engage the proximal ends of the flue and the horn. The suction device may extend through and beyond at least one second receiving portion port such that the distal end of the flue is received by the second receiving portion and the horn extends through the second receiving portion, thereby enabling the horn to be inserted into a target site (e.g., a patient, etc.). In these embodiments, the first receiving portion and the second receiving portion can align the suction device in a particular orientation and ensure that the suction device remains aligned throughout the surgical procedure.

[0015] As described herein, the disclosed surgical devices are intended to simplify various minimally invasive surgeries (“MIS”), including laparoscopy, to make the procedures more accessible to residents, specialists, surgeons, and other individuals trained to perform the procedures. For example, obstacles to performing current laparoscopic procedures include the ability of surgeons and / or other individuals to provide an ultrasonic aspirator with stability (e.g., positional and / or rotational stability) and to manage tissue retraction and positioning around the target site throughout the course of the procedure. During current procedures, an unstable aspirator (or other surgical instrument) can result in trauma, pathological conditions, blood loss, and other surgical complications. Additionally, multiple individuals are often required to control the various functions of the aspirator during a laparoscopic procedure. For example, it may be necessary to simultaneously provide ultrasonic aspiration and electrosurgical coagulation to the target site during a surgical procedure. Thus, conventional laparoscopic procedures require multiple trained individuals to control the various functions of the ultrasonic aspirator and to ensure that the aspirator remains stable throughout the duration of the procedure.

[0016] In contrast, the disclosed surgical devices eliminate the need for multiple users by providing a robotic system for operating the ultrasonic aspirator. In these embodiments, the robotic system can be utilized to position and / or stabilize the ultrasonic aspirator while a single individual (e.g., a surgeon) performs a laparoscopic procedure. Additionally, the robotic system can enable a user to control multiple functions of the aspirator using a single control element. As described in more detail herein, a user performing the procedure can control the robotic system throughout the course of the procedure (e.g., via a foot pedal or the like) such that the laparoscopy can be performed by a single user.

[0017] As provided herein, the terms "ultrasonic horn," "ultrasonic tip," "ultrasonic aspiration tip," "ultrasonic surgical aspiration tip," "aspiration tip," "ultrasonic surgical tip," "surgical tip," and "tip" may be used interchangeably. Additionally, it should be further understood that the term "ultrasonic" may further include high frequency ("RF"). Similarly, the terms "flue," "irrigation flue," "sleeve," "irrigation manifold," and "manifold" may also be used interchangeably herein. The terms "tip expander" and "horn expander" may also be used interchangeably herein.

[0018] As defined herein, the term "non-disposable" is used to refer to a device intended for use on multiple subjects during the lifetime of the device, and the term "disposable" is used to refer to a device intended to be disposed of after use on a single subject.

[0019] Embodiments of surgical devices and methods for performing surgery are now described in more detail herein. Hereinafter, these surgical devices and methods are described with reference to the drawings, and like numbers refer to like structures.

[0020] Referring now to FIG. 1, a schematic view of a surgical device 10 is depicted. In these embodiments, the surgical device 10 may include a robotic system 100 and a suction device 200, such as an ultrasonic aspirator, that may be coupled to the robotic system 100. The ultrasonic aspirator 200 may be particularly suitable for ultrasonically fragmenting and aspirating tissue during surgery, as described in more detail herein. The surgical device 10 of FIG. 1 is depicted as including the suction device 200, but it should be understood that the suction device is for illustrative purposes only and that the surgical device 10 may include any surgical instrument that may be coupled and manipulated by the robotic system 100.

[0021] As further depicted in FIG. 1, the aspirator 200 can include a handpiece 210, a horn 230 such as an ultrasonic horn, a fluid 260 coaxially disposed around the horn 230, and a connector 220 for securing the horn 230 and the fluid 260 to the handpiece 210. In these embodiments, the connector 220 can extend from the proximal end 222 of the handpiece 210 and can be used to couple the horn 230 and the fluid 260 to the handpiece 210. In some embodiments, the horn 230 and the fluid 260 can be directly coupled to the connector 220 (e.g., via threaded engagement, snap fit, interference fit, etc.). In other embodiments, the horn 230 and the fluid 260 can further include tubing and / or fittings used to secure the horn 230 and the fluid 260 to the connector 220, as described in further detail herein.

[0022] In the embodiments described herein, the handpiece 210, the connector 220, the horn 230, and the fluid 260 can be received by the robotic system 100 such that the robotic system 100 can position, manipulate, and / or stabilize the aspirator 200 during a surgical procedure. Once positioned within the target site, the horn 230 can be activated to ultrasonically fragment tissue located in the target site and to suction drainage generated during the procedure away from the target site. The aspirator 200 is described in further detail herein with reference to FIGS. 2 and 3.

[0023] Still referring to FIG. 1, the robotic system 100 may include a plurality of arm members 112 that can be used to manipulate (e.g., move, rotate, etc.) the aspirator 200 through a plurality of planes (e.g., three-dimensional space). For example, the robotic system 100 may include a first arm member 112a, a second arm member 112b, a third arm member 112c, and a fourth arm member 112d, where the plurality of arm members 112a-112d are each hingedly coupled to each adjacent arm member 112a-112d via a plurality of joints 14 such that the plurality of arm members 112a-112d can expand (e.g., in the X and / or Y directions as depicted on the coordinate axes of FIG. 1), retract, and / or rotate around the plurality of joints 14. Although not depicted, in other embodiments, it should be understood that the plurality of arm members 112a-112d may be coupled such that the arm members 112a-112d can each further perform three-dimensional rotations (e.g., around the X, Y, and Z axes as depicted on the coordinate axes of FIG. 1). These embodiments may be advantageous, particularly for adjusting the angle of the aspirator 200 with respect to the target site, as will be described in more detail herein.

[0024] Although not depicted, further, in some embodiments, it should be understood that the robotic system 100 may further include a base to which at least one of the plurality of arm members 112a-112d is attached. In these embodiments, the base may be a stationary base or a movable base (e.g., movable via wheels, etc.). For example, in embodiments where the base is a movable base, the robotic system 100 of the surgical device 10 may be moved between locations (e.g., operating rooms), which may enable the robotic system 100 to be used in connection with a plurality of surgical devices 10 and / or patients over short time periods. Further, by enabling the robotic system 100 to be operable with various surgical devices, it may be possible to reduce the costs associated with using the robotic system during a particular procedure.

[0025] Still referring to FIG. 1, the robotic system 100 may further include a first receiving portion 120, such as a handpiece receiving portion, and a second receiving portion 160, such as a flu receiving portion, that can be used to couple the suction device 200 to the robotic system 100. For example, in the embodiment depicted in FIG. 1, at least one of the plurality of arm members 112a-112d may be an alignment arm member (e.g., arm member 112d in FIG. 1) that includes the first receiving portion 120 and the second receiving portion 160. Thus, when the suction device 200 is attached to the robotic system 100, the alignment arm member, the first receiving portion 120, and the second receiving portion 160 can align the suction device 200 in a desired orientation before the suction device 200 is inserted into the target site. Further, when the suction device 200 is positioned in the desired orientation, the robotic system 100 can ensure that the suction device 200 remains axially aligned throughout the course of the surgical procedure.

[0026] To accommodate the suction device 200, the first receiving portion 120 may include at least one first receiving portion port 122, while the second receiving portion 160 may include at least one second receiving portion port 162. In these embodiments, the at least one first receiving portion port 122 and the at least one second receiving portion port 162 may be axially aligned such that the suction device 200 can be linearly inserted through the first receiving portion 120 and the second receiving portion 160 simultaneously without the need to disassemble the suction device 200. For example, as depicted in FIG. 1, the handpiece 210 of the suction device 200 may be inserted into the first receiving portion 120 such that the connector 220, the horn 230, and the flu 260 extend through at least one first receiving portion port 122 of the first receiving portion 120.

[0027] As further depicted in FIG. 1, with the handpiece 210 positioned within the first receiving portion 120, the flu 260 can extend into at least one second receiving portion port 162 of the second receiving portion 160. In these embodiments, the flu 260 can include a tapered distal end such that the flu 260 is confined within at least one second receiving portion port 162 and does not extend beyond the second receiving portion 160 (as depicted in FIGS. 2 and 3). The horn 230 can extend through the flu 260 and the second receiving portion 160 such that the horn 230 can be disposed within the target site. Since the at least one first receiving portion port 122 and the at least one second receiving portion port 162 are axially aligned, inserting the aspirator 200 through both the first receiving portion 120 and the second receiving portion 160 can ensure that the aspirator 200 remains aligned with the alignment arm member (e.g., the arm member 12d as depicted in FIG. 1) as the robotic system 100 is actuated. Thus, in these embodiments, the aspirator 200 can be manipulated (e.g., positioned, extended, retracted, rotated, etc.) by operating the alignment arm member.

[0028] In the embodiments described herein, the handpiece 210 of the aspirator 200 can be inserted into the first receptacle 120 such that the handpiece 210 remains fixed within the first receptacle 120 when the robotic system 100 is actuated. For example, the first receptacle 120 can include a plurality of slots engaged by a plurality of rails positioned on the handpiece such that the handpiece 210 can be slidably engaged with the first receptacle 120. In other embodiments, the first receptacle 120 can include a snap-fit and / or latch connection mechanism that engages the handpiece 210 when the handpiece 210 is fully inserted into the first receptacle 120 (e.g., when the connector 220 extends through at least one first receptacle port 122). In still other embodiments, the first receptacle 120 can include a strap or other similar restraint mechanism that secures around the distal end 224 of the handpiece 210 when the handpiece 210 is inserted into the first receptacle 120. It is intended that the examples provided herein be illustrative in nature and that the handpiece 210 can be secured to the first receptacle 120 using any mechanism that effectively secures the handpiece 210 within the first receptacle 120 as the robotic system 100 is actuated and / or operated.

[0029] The aspirator 200 is described as being simultaneously inserted into the first receptacle 120 and the second receptacle 160, but it should be understood that various components of the aspirator 200 can be individually coupled to the robotic system 100. For example, the handpiece 210 can be inserted into the first receptacle 120 such that the connector 220 extends from at least one first receptacle port 122 of the first receptacle 120. Once the handpiece 210 is secured, the horn 230 and the flue 260 can be coupled to the connector 220 as described herein, in which case the aspirator 200 can be repositioned such that the flue extends into at least one second receptacle port 162.

[0030] Still referring to FIG. 1, the surgical device 10 may further include a console 300 that can be used to control the robotic system 100 and the aspirator 200. For example, as depicted in FIG. 1, the surgical device 10 includes a power line 202, a suction tube 204, and an irrigation tube 206, each of which can be used to connect the aspirator 200 to the console 300. In these embodiments, the power line 202 can supply power to the aspirator 200, while the suction tube 204 provides suction and a path for suction from the target site to a collection canister (not depicted). The irrigation tube 206 can further provide irrigation fluid to the target site through the lumen 260 during the procedure. Further, although not depicted in FIG. 1, the console 300 may further include some control inputs for operating the robotic system, such as manual inputs, foot pedals, and other similar components.

[0031] In addition to controlling the suction tube 204 and the irrigation tube 206 of the surgical device, it should be noted that in some embodiments, the console 300 may be further configured to control the RF energy supplied from the handpiece 210 to the horn 230 of the aspirator 200. In these embodiments, the RF energy supplied to the horn 230 can be used to assist in coagulation at the target site into which the aspirator 200 is inserted. Further, the handpiece 210 may also include a force sensing element, such as a piezoelectric ceramic force sensing element, that can enable improved tissue selectivity within the target site during a surgical procedure. Various tissue selectivity mechanisms can be used for ultrasonic aspiration, as described in U.S. Patent No. 10,687,840 to Cotter et al., which is incorporated herein by reference in its entirety. In these embodiments, the tissue selectivity mechanism (e.g., force sensing element, etc.) can be further operated via the console 300. It should be understood that by configuring the console 300 to control the aspiration, irrigation, RF coagulation, and tissue selectivity components and mechanisms of the aspirator 200, the aspirator 200 may be more suitable for coupling with the disclosed robotic system 100. The console 300 is described in more detail herein with reference to FIG. 4.

[0032] Referring now to FIGS. 1-3, the aspirator 200 is depicted in greater detail. As most clearly shown in FIGS. 2 and 3, the handpiece 210 may include a transducer (not depicted) to which a horn 230 (e.g., an ultrasonic horn) is fastened thereon. The horn 230 may be powered by the transducer and ultrasonically actuated to fragment tissue and aspirate drainage through the suction tube 204. During operation, the transducer may convert electrical energy into mechanical energy to vibrate the horn 230 to fragment the tissue located at the target site and may convert the energy into ultrasonic frequency. Further, in these embodiments, the handpiece 210 may further include a connection for high-frequency (“RF”) energy to assist in coagulation within the target site that may be generated by conducting a current through the tissue at the target site. It should be further understood that the suction tube 204 may extend through the handpiece 210 such that the suction tube 204 is directly connected to the horn 230, thereby enabling waste fluid generated during the surgical procedure to be removed from the target site through the suction tube 204.

[0033] Still referring to FIGS. 1-3, the horn 230 has a proximal end 231, a distal end 232, and a body 233 that extends from the proximal end 231 to the distal end 232 and may be defined by a plurality of horn members 234. For example, as depicted in FIGS. 2 and 3, the plurality of horn members 234 may include a first horn member 234a, a second horn member 234b that extends distally from the first horn member 234a, and a third horn member 234c that extends distally from the second horn member 234b. In these embodiments, the horn members 234a-234c may be coupled / connected via a threaded coupler or any other similar coupler (e.g., torque application, laser welding, pins, etc.) capable of securing the horn members 234a-234c.

[0034] The horn 230 is depicted as including three horn members 234 in the embodiments illustrated in FIGS. 2 and 3, but it should be understood that the horn 230 can include any number of horn members 234 without departing from the scope of the present disclosure. In these embodiments, a plurality of horn members 234 can be used to vary the (e.g., overall) length of the body 233 of the horn 230 for one or more purposes. Further, the (e.g., overall) length of the body 233 of the horn 230 can be determined based on the size of the flute 260 used in relation to the dimensions of the robotic system 100 used to control the horn 230 and / or the aspirator 200. For example, to effectively secure the aspirator 200 within the robotic system 100, the aspirator 200 can have a (e.g., overall) length that is longer than the length between the first receiving portion 120 and the second receiving portion 160 such that the first receiving portion 120 and the second receiving portion 160 can stabilize the aspirator 200 during a surgical procedure.

[0035] As further depicted in FIGS. 1 - 3, the horn 230 can further include a surgical tip 236 that can be inserted into a target site such that ultrasonic vibrations of the horn 230 are transmitted to the target site. In these embodiments, the number of the plurality of horn members 234 included within the horn 230 can be further determined based on the wavelength of the resonance frequency to be supplied to the target site. For example, in some embodiments, the horn 230 can be activated to vibrate within an ultrasonic frequency range with a longitudinal amplitude of about 5 millimeters (0.005 meters) to 14 millimeters (0.014 meters).

[0036] In these embodiments, the surgical tip 236 can have an open end and can be coupled to the most distal horn member 234 of the plurality of horn members 234. Thus, when the aspirator 200 is inserted into the target site and a vacuum is applied to the suction tube, waste fluid can be drawn into the aspirator through the surgical tip 236 of the horn 230 and transported away from the target site.

[0037] Still referring to FIGS. 1-3, the horn 230 may have a substantially circular cross-section and may be coaxially disposed within the flue 260 (e.g., as depicted in FIG. 3). In these embodiments, the flue 260 and the horn 230 may define an annular cavity 240 therebetween such that irrigation fluid may be supplied through the annular cavity 240 into the target site via the surgical tip 236, as described in further detail herein.

[0038] The flue 260 may include a proximal end 262, a distal end 264, and a body 263 extending between the distal end 264 of the flue 260 and the proximal end 262 of the flue. The distal end 264 may further include a flue tip 266 that may be inserted into the second receptacle 160 of the robotic system 100. In these embodiments, the surgical tip 236 positioned on the horn 230 may extend through the flue tip 266 and the second receptacle 160 when the aspirator 200 is coupled to the robotic system 100 such that the surgical tip 236 may be inserted into the target site.

[0039] In these embodiments, the flue 260 may be configured to deliver irrigation fluid to the target site and further to isolate the ultrasonically activated horn 230 and the surgical tip 236 when the horn 230 is inserted into the target site. Additionally, the flue 260 may provide a dielectric boundary between the energized horn 230 and the tissue positioned outside the target site. To provide a dielectric boundary between the horn 230 and the tissue positioned outside the target site, in some embodiments, the flue tip 266 may be made of silicone or any other similar material capable of forming the boundary. Further, the body 263 may be formed from a rigid material (e.g., a material having a rigidity of about 100,000 psi to 350,000 psi) to ensure that the horn 230 and the aspirator 200 remain stabilized when the horn 230 is activated.

[0040] Referring again to FIGS. 1-3, the aspirator 200 may further include a cooling and irrigation system that can maintain the temperature of the horn 230 within an acceptable range and provide a cooling fluid and an irrigation fluid to the horn 230 to clean the drainage from the target site. In these embodiments, the irrigation tube 206 of the aspirator 200 may be coupled to the fluid tube 268 to provide an irrigation fluid, such as saline, through an annular cavity 240 defined between the fluid 260 and the horn 230. As most clearly depicted in FIG. 1, the irrigation tube 206 may be coupled to a console 300 that may be configured to supply an irrigation fluid. For example, the console 300 may include a pump, such as a peristaltic pump, that can provide the irrigation fluid to the fluid 260 at a particular pumping rate. In some embodiments, the peristaltic pumping rate may be as low as on the order of 2-3 mL / min.

[0041] As further depicted in FIGS. 1-3, the irrigation fluid supplied to the target site may be removed via the suction tube 204 such that a desired amount of irrigation fluid is available at the target site within the continuous fluid circuit. In these embodiments, the irrigation fluid may assist in preventing and / or reducing the immediate coagulation of blood that may occlude the surgical tip 236 and / or the suction tube 204. Additionally, the irrigation fluid that pools in the vicinity of the surgical tip 236 (e.g., prior to being removed via the suction tube 204) may be used to cool the surgical tip 236 and the target site.

[0042] The irrigation fluid supplied to the target site may provide the benefits described herein, but in some embodiments, the capillary action of the irrigation fluid may cause the irrigation fluid to pool (or "dam up") at the surgical tip 236. In these embodiments, the damming of the irrigation fluid may at least partially occlude the aspirator 200 and / or the annular cavity 240, which may reduce the continuous circuit of irrigation described herein. This problem may be exacerbated in embodiments where the diameter of the annular cavity 240 is reduced due to the diameter of the fluid 260, the horn 230, or both.

[0043] As most clearly depicted in FIGS. 2 and 3, the storage of irrigation fluid in the vicinity of the surgical tip 236 can be alleviated by providing a venting mechanism such as vent 226 between the irrigation tube 206 and the console 300 (e.g., having a pump or other similar mechanism that provides the irrigation fluid to the aspirator). In these embodiments, vent 226 can be an air vent that exposes the annular cavity 240 to the atmosphere, which can in turn relieve the pressure from around the surgical tip 236 where irrigation fluid can be stored. For example, in the embodiments described herein, pumping the irrigation fluid into the aspirator 200 can result in a small vacuum being formed in the vicinity of the surgical tip 236 of the aspirator 200. However, by exposing the annular cavity 240 to the atmosphere via vent 226, it can be ensured that the pressure within the aspirator 200 is released to the external atmosphere, thereby preventing the storage of irrigation fluid within the aspirator 200.

[0044] As depicted in FIGS. 2 and 3, vent 226 is disposed on the connector 220 of the handpiece 210. In these embodiments, the irrigation fluid can flow from the console 300 through the irrigation tube 206 into the flue tube 268, at which point the irrigation fluid can accumulate within the annular cavity 240 of the aspirator 200. Since the flue tube 268 can be fluidly coupled to the connector 220, providing vent 226 within a portion of the connector 220 can further act to ventilate the annular cavity 240 of the aspirator 200, as described herein. Although vent 226 is depicted as being formed within the connector 220, it should be understood that vent 226 can be positioned at any point between the console 300 and the flue 260 such that vent 226 can expose the annular cavity 240 to the atmosphere.

[0045] Turning now to FIG. 4, a schematic diagram of the console 300 is depicted. As will be described in further detail herein, the console 300 can be configured to control the operation of both the robotic system 100 (e.g., the plurality of arm members 112a-112d and, thus, the orientation and / or position of the aspirator 200) and the aspirator 200 (e.g., activation of the horn 230, the aspiration tube 204, and / or the irrigation tube 206). As will be appreciated in light of the foregoing, an individual user (e.g., a surgeon or other technician) can perform MIS such as laparoscopy without assistance by operating the console to control the various components of the robotic system 100 and the aspirator 200.

[0046] As further depicted in FIG. 4, the console 300 can include a console circuit 318, a power supply 320, an aspiration source 330, and an irrigation source 340. The console 300 can further include a console input 328, such as a computer, that can enable a user to operate the console 300. In these embodiments, the console input 328 can be configured to provide automatic control of the console 300 via a software program or can be manually controlled via a user interface and / or a user operating its control mechanism.

[0047] Still referring to FIG. 4, the console input 328 may include a user interface (e.g., a display and / or speakers, etc., with control buttons that provide user control of various functions of the console 300 and visual / auditory indicators that provide visual / auditory feedback of the status of one or more conditions and / or the position of components of the console 300). The control buttons may include one or more buttons for adjusting the position and / or orientation of each of the plurality of arm members 112 of the robotic system 100, activating the horn 230, controlling the frequency at which the horn 230 vibrates, activating the vacuum in the suction tube 204, and / or supplying irrigation fluid to the aspirator via the irrigation tube 206. Activating the mechanism(s). For example, the console input 328 may include one or more buttons and / or knobs 328a, 328b for adjusting the position and orientation of each of the plurality of arm members 112, and one or more buttons (e.g., foot pedals) and / or knobs 328c, 328d for activating the horn 230, the suction source 330, the irrigation source 340, and / or adjusting the control parameters of any of these components.

[0048] Furthermore, in some embodiments, it should be understood that the plurality of buttons and / or knobs of the console input 328 may be used to control a plurality of components of the surgical device. For example, in some embodiments, the console input 328 may include a foot pedal that may include one or more buttons and / or knobs for controlling the irrigation source 340 and the suction source 330, as will be described in more detail herein.

[0049] Still referring to FIG. 4, in these embodiments, the console circuit 318 is electrically and communicatively coupled to the power source 320, the suction source 330, and the irrigation source 340 by one or more wires or circuit traces, etc. The console circuit 318 can be assembled on an electrical circuit and can include, for example, a processor circuit 318a and a memory circuit 318b.

[0050] The processor circuit 318a has one or more programmable microprocessors and an associated network of circuits such as input / output interfaces, buffers, memory, etc. The memory circuit 318b is communicatively coupled to the processor circuit 318a via, for example, a bus circuit and is a non-transitory electronic memory that can include a volatile memory circuit such as a random access memory (RAM) and a non-volatile memory circuit such as a read-only memory (ROM), an electronically erasable programmable ROM (EEPROM), a flash memory, etc. The console circuit 118 can be formed as one or more application-specific integrated circuits (ASICs).

[0051] The console circuit 318 is configured via software and / or firmware resident in the memory circuit 318b to execute program instructions to perform functions associated with the surgical device 10. For example, the console circuit 318 can adjust the position and / or orientation of each of the plurality of arm members 112 of the robotic system, can activate the horn 230, the suction source 330, and / or the irrigation source 340, can adjust the frequency at which the horn 230 vibrates, and / or can adjust the volume of the irrigation fluid supplied to the irrigation tube 206.

[0052] Still referring to FIG. 4, power source 320 may include, for example, an arm member module 322 and a horn module 324. In these embodiments, arm member module 322 and horn module 324 may each be electrically and controllably coupled to console circuit 318. As provided herein, arm member module 322 and horn module 324 may be electrically coupled to console circuit 318 using electrical wiring or any other suitable electrical connection such that user input on console input 328 can be relayed to console circuit 318 and used to control the power delivered by source 320 to arm member module 322 and horn module 324.

[0053] In these embodiments, arm member module 322 may include a power supply 322a to which electrical lead 322b is attached. For example, power supply 322a may be connected to each of the plurality of arm members 112 such that power supply 322a can be used to adjust the position and orientation of each of the plurality of arm members 112. Similarly, horn module 324 may include a power supply such as a generator 324a to which electrical lead 324b is attached. In these embodiments, the generator may be utilized to control the power supplied to horn 230 such that horn module 324 can control the frequency at which horn 230 vibrates when horn 230 is activated.

[0054] Still referring to FIG. 4, suction source 330 may include a suction module 332. The suction module may include, for example, a power supply 332a used to activate a vacuum assembly (not depicted) and generate a suction within suction tube 204 via electrical lead 332b. In these embodiments, power supply 332a may further be utilized to vary the intensity of the suction generated within suction tube 204 to meet the suction needs of a particular surgical procedure.

[0055] As described herein, console 300 may further include an irrigation source 340. In these embodiments, irrigation source 340 may include an irrigation module 342 that may be controlled to supply irrigation fluid to aspirator 200 via the console. Irrigation source 340 may include a fluid supply source 334a that may be coupled to irrigation tube 206 via a fluid coupler 334b such that when irrigation source 340 is activated, irrigation fluid may pass from console 300 to aspirator 200.

[0056] Still referring to FIG. 4, in the embodiments described herein, console 300 may be electrically and operably connected to robotic system 100 and aspirator 200 such that console 300 is capable of simultaneously controlling and / or operating robotic system 100 and aspirator 200 during a surgical procedure. For example, when aspirator 200 is coupled to the robotic system, arm member module 322 may be activated to adjust the position and / or orientation of aspirator 200, and thus the position and orientation of the plurality of arm members 112, such that the aspirator is positioned at the inlet location and inlet orientation. It is to be understood that depending on the surgical procedure being performed, aspirator 200 may be positioned at various locations and at various angles relative to the target site. For example, during some laparoscopic procedures, the surgical tip of horn 230 may be angled approximately 30-45 degrees relative to the target site prior to being inserted into the target site.

[0057] When arm member module 322 positions aspirator 200 at a particular position and angle relative to the target site, arm member module 322 may be further controlled to insert the aspirator into the target site at the inlet location and inlet orientation. Further, it is to be understood that in these embodiments, arm member module 322 may be deactivated such that aspirator 200 remains stabilized at the desired position and orientation during the surgical procedure. If aspirator 200 requires adjustment during the procedure, arm member module 322 may be reactivated to reposition and / or rotate aspirator 200.

[0058] With the aspirator 200 positioned within the target site, the console 300 can be used to activate the horn module 324, which can, in turn, provide power to the horn 230 via the generator 324a. In these embodiments, the user can adjust the power delivered to the horn 230 to control the frequency at which the horn 230 vibrates.

[0059] As the horn 230 vibrates, the console 300 can be further utilized to operate the suction source 330 and the irrigation source 340. For example, as described herein, the suction source 330 and the irrigation source 340 can be controlled via a common control mechanism such as a foot pedal. Thus, the suction module 330 and the irrigation source 340 can each be individually and selectively activated throughout the surgical procedure to suction waste fluid from the target site and / or provide irrigation fluid to the target site.

[0060] Turning now to FIG. 5, an illustrative method 500 of performing a surgical procedure is depicted. In the embodiments described herein, the method 500 may be particularly suitable for providing suction during MIS such as laparoscopy. However, it should be understood that the embodiments described herein are for illustrative purposes only and that the method 500 can be used to perform any surgical procedure without departing from the scope of the present disclosure.

[0061] As depicted in block 510, the method 500 may first require coupling a surgical instrument such as an aspirator to a robotic system having a plurality of arm members. Once the surgical instrument is coupled to the plurality of arm members, the method can proceed to block 520, which may require using the console to manipulate the position and orientation of the plurality of arm members such that the aspirator is moved to a desired position and orientation relative to the target site.

[0062] With the aspirator moved to the desired position and orientation, the method may move to block 530 which may require inserting the aspirator into the target site using a plurality of arm members of the robotic system. As the aspirator enters the target site, as depicted in block 540, the horn of the aspirator may be activated such that the horn vibrates at a predetermined frequency within the target site and fragments tissue at the target site.

[0063] As the horn vibrates, the user may simultaneously provide irrigation fluid to the target site and aspirate the target site, as depicted in blocks 550 and 560, respectively. In these embodiments, the console may include an irrigation source and an aspiration source that can be individually controlled via a single control input, such as a foot pedal, that enables the user to selectively operate each of the irrigation source and the aspiration source during the course of the surgical procedure. The irrigation source and the aspiration source may be selectively operated as needed until the surgical procedure is complete. When the procedure is complete, the method may move to block 570 which may include removing the aspirator from the target site using a plurality of arm members of the robotic system.

[0064] As should be understood in light of the foregoing, a surgical device is disclosed herein. The surgical device may include a surgical device, such as an aspirator, and a robotic system that can be used to operate the surgical device. The surgical device may further include a console configured to independently control the operation of both the robotic system and the surgical device. In these embodiments, the user performing the procedure may be able to control the robotic system throughout the course of the procedure (e.g., via a foot pedal, etc.) such that the surgical procedure can be performed by a single user.

[0065] The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, including "at least one", unless the context clearly dictates otherwise. "Or" means "and / or". As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. The terms "comprises", "comprising", "includes", and / or "including", when used herein, specify the presence of the stated feature, region, integer, step, operation, element, and / or component, but do not preclude the presence or addition of one or more other features, regions, integers, steps, operations, elements, components, and / or groups. The term "or a combination thereof" means "a combination including at least one of the foregoing elements".

[0066] Note that the terms "substantially" and "about" may be used herein to represent the inherent degree of uncertainty that may be attributable to any quantitative comparison, value, measurement, or other representation. These terms may also be used herein to represent the degree to which a quantitative representation may vary from the stated reference without causing a change in the basic function of the subject matter being discussed.

[0067] Although specific embodiments are illustrated and described herein, it is to be understood that various other changes and modifications may be made without departing from the spirit and scope of the claimed subject matter. Also, various aspects of the claimed subject matter are described herein, but such aspects need not be utilized in combination. Accordingly, the appended claims are intended to cover all such changes and modifications that are within the scope of the claimed subject matter.

Claims

1. A surgical device, wherein the surgical device is A robot system comprising a plurality of arm members, each of which is connected to an adjacent arm member via a joint, and at least one of the plurality of arm members includes a first receiving part and a second receiving part, A suction device, wherein the suction device is Handpiece and A connector extending from the aforementioned handpiece, The horn is connected to the handpiece via the aforementioned connector, The flue is arranged coaxially around the horn and is connected to the handpiece via the connector. A suction device equipped with Equipped with, A surgical apparatus in which the handpiece of the suction device is received by the first receiving portion of the at least one of the plurality of arm members, and the fluid of the suction device is received by the second receiving portion of the at least one of the plurality of arm members, so that when the robotic system is operated, the suction device remains axially aligned with respect to at least one of the plurality of arm members.

2. The surgical apparatus according to claim 1, wherein the flue further comprises a distal end and a proximal end, the distal end of the flue being received by the second receiving part.

3. The surgical apparatus according to claim 2, wherein the horn further includes a distal end and a proximal end, the distal end of the horn extending beyond the distal end of the flue and the second receiving portion when the flue is received by the second receiving portion.

4. The surgical apparatus according to claim 3, wherein the handpiece further comprises a transducer that vibrates the horn at a predetermined frequency when the horn is coupled to the connector of the handpiece.

5. The surgical apparatus according to claim 1, further comprising a console for individually controlling the robotic system and the suction device.

6. The surgical apparatus according to claim 5, further comprising a suction tube for providing vacuum to the horn, the suction tube extending between the handpiece of the suction device and the console.

7. The surgical apparatus according to claim 6, further comprising an annular cavity defined by the space between the horn and the flue when the flue is arranged coaxially around the horn.

8. The surgical apparatus according to claim 7, further comprising an irrigation tube for supplying irrigation fluid to the annular cavity, wherein the irrigation tube extends between the suction device and the console.

9. The surgical apparatus according to claim 8, wherein the connector of the handpiece further comprises a vent for ventilating the irrigation tube to the atmosphere.

10. The surgical apparatus according to claim 9, wherein the console is configured to selectively control, via a foot pedal, the supply of the irrigation fluid to the annular cavity and the provision of vacuum to the horn.

11. The surgical apparatus according to claim 1, wherein each of the plurality of arm members is connected to an adjacent arm member such that each of the plurality of arm members can move in three dimensions.

12. A surgical device, wherein the surgical device is A robot system comprising a plurality of arm members, each of which is connected to an adjacent arm member via a joint, and at least one of the plurality of arm members includes a first receiving part and a second receiving part, A suction device, wherein the suction device is Handpiece and A connector extending from the handpiece, wherein the handpiece is received by the first receiving portion such that the connector extends from the first receiving portion. A horn coupled to the handpiece via the connector, the horn having a distal end, a proximal end, and a body extending between them, A flue is arranged coaxially around the horn and coupled to the handpiece via the connector, the flue having a distal end, a proximal end, and a body extending between them, wherein the distal end of the flue is received by the second receiving portion such that the distal end of the horn extends beyond the distal end of the flue and the second receiving portion. A suction device equipped with, A console, wherein the console is An irrigation source that supplies irrigation fluid to the suction device via an irrigation tube, A suction source that provides suction to the suction device via a suction tube, A power supply that provides power to the suction device and the plurality of arm members. Equipped with a console and Equipped with, The connector further includes a vent for ventilating the irrigation tube to the atmosphere when the irrigation source supplies the irrigation fluid to the aspirator, a surgical apparatus.

13. The surgical apparatus according to claim 12, wherein the console is configured to selectively control, via a foot pedal, the supply of the irrigation fluid to the suction device and the supply of suction to the suction device.

14. The surgical apparatus according to claim 12, wherein the handpiece further comprises a transducer that vibrates the horn at a predetermined frequency when the horn is coupled to the connector of the handpiece.

15. The surgical apparatus according to claim 12, wherein each of the plurality of arm members is connected to an adjacent arm member such that each of the plurality of arm members can move in three dimensions.

16. The surgical apparatus according to claim 12, wherein the suction device remains axially aligned with at least one of the plurality of arm members when the robotic system is operated.

17. A surgical device for performing surgical procedures, wherein the surgical device is A robot system having multiple arm members, A suction device configured to be coupled to the robot system, wherein at least one of the plurality of arm members includes a first receiving part and a second receiving part for receiving the suction device, console and Equipped with, The console is configured to operate the position and orientation of the plurality of arm members so that the suction device is moved to the position and orientation of the entrance relative to the target site. The plurality of arm members of the robot system are configured to insert the suction device into the target area at the position and orientation of the entrance, The console is further configured to activate the horn of the suction device so that the horn vibrates within the target site at a predetermined frequency, to irrigate the target site by supplying irrigation fluid through an irrigation tube extending from the console to the suction device, and to suction the target site by generating a vacuum within the suction device using a suction tube extending from the console to the suction device. A surgical device wherein the plurality of arm members of the robot system are further configured to remove the suction device from the target site.

18. The surgical apparatus according to claim 17, wherein the console is configured to selectively control the irrigation and aspiration of the target site using a foot pedal.

19. The surgical apparatus according to claim 17, wherein each of the plurality of arm members is connected to an adjacent arm member such that each of the plurality of arm members can move in three dimensions.

20. The surgical device according to claim 17, wherein the orientation of the inlet of the suction device is at an angle of 30 to 45 degrees with respect to the target site.

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