Systems, devices, and methods employing a cartridge for surgical tool exchange in a surgical robot system

Abstract

A system and method are provided that use a cartridge for securing one or more tool elements of a surgical tool and releasing the tool elements when engaged by a distal end of a robotic arm. The cartridge includes a cartridge body, a holder disposed within the cartridge body and configured to engage the tool element, a spring connecting the holder to the cartridge body, and a pair of biasing elements each attached to the cartridge body at a first end and having a retaining mechanism at a second end, the retaining mechanism being configured to engage a corresponding receiving mechanism of the tool element. Also provided is a cartridge having an RFID tag and / or an RFID tag and RFID blocking flag system for identifying the proximity of the distal end of the robotic arm.

Description

Technical Field

[0001] Cross - Reference to Related Applications This application claims the benefit of U.S. Provisional Patent Application No. 63 / 347,958, filed on June 1, 2022, the content of which is incorporated herein by reference.

Background Art

[0002] Surgical robotic systems can use a manipulator, a grasper, a scalpel, scissors, a cautery device, and other tools that are inserted into a patient through a single incision or multiple incisions, such as cannulas, for laparoscopic procedures. In some procedures, various tools and graspers are required to complete the surgical procedure. The tools may be, for example, interchangeable tools that are attached to the arm of a surgical robotic system, such as by being mounted on the arm of the surgical robotic system. In some cases, the tools may be attached to the arm before or during the procedure and may be removed from the arm.

Summary of the Invention

[0003] The present disclosure is directed to a cartridge for securing one or more tool elements of a surgical tool and releasing the tool elements when engaged by the distal end of a robotic arm. The cartridge may include a cartridge body that defines a tool - holding cavity, a holder channel, an arm and tool channel, and an access opening, wherein the arm and tool channel extends from the tool - holding cavity to an opening on a first side of the cartridge body and is configured to receive the distal end of the robotic arm. The cartridge may include a holder within a tool - holding recess configured to removably secure one or more tool elements.

[0004] The present disclosure is directed to a cartridge for securing one or more tool elements of a surgical tool and releasing the tool elements when engaged by a distal end of a robotic arm. The cartridge includes a cartridge body that includes an arm and a tool channel that extends to an opening on a first side of the cartridge body and is configured to receive the distal end of the robotic arm, and includes a holder channel. The cartridge also includes a holder that includes a cradle portion configured to engage at least a portion of one or more tool elements and an end portion opposite the cradle portion. The end portion of the holder extends into the holder channel. The cartridge also includes a spring disposed within the holder channel. The spring has a first end connected to the end portion of the holder and a second end connected to the cartridge body. The spring and the holder channel are configured to allow movement of the holder relative to the cartridge body during compression or extension of the spring. The holder also includes a pair of biasing elements, each biasing element including a retaining mechanism disposed at a proximal end of the biasing element, and each biasing element being fixed to the cartridge body at a distal end. Each retaining mechanism is configured to engage a corresponding receiving mechanism within a tool element body of a corresponding tool element. The retaining mechanism may be any feature for engaging the corresponding receiving mechanism. The retaining mechanism may be, for example, a detent or other protruding feature, or a magnet. The receiving mechanism may be any feature for engaging the corresponding retaining mechanism. The receiving mechanism may be, for example, a notch, a recess, a hemispherical recess, or other recessed feature, or a magnet.

[0005] In some embodiments, the holder defines a pair of biasing element channels, and each of the pair of biasing elements extends through a corresponding one of the biasing element channels. The biasing element channels are configured to allow the holder to move along a central axis of the holder channel relative to the pair of biasing elements while restricting lateral deflection of a portion of the biasing element positioned within the biasing element channel.

[0006] In some embodiments, a pair of biasing element channels are configured to hold the proximal end of the biasing element in a first position when the spring is in the extended position and to allow the proximal end of the biasing element to bend outwardly when the spring is in the compressed position.

[0007] In some embodiments, the retention mechanism has the shape of either a ball, a latch, a hook, or a protrusion. Some embodiments further include a surgical tool that includes a tool element held by a cradle portion of the holder. In some embodiments, the surgical tool is selected from the group consisting of a grasper, bipolar forceps, scissors, and a needle driver. In embodiments, a first force in a first direction on the surgical tool shifts the holder in the first direction. In some embodiments, the opening of the cartridge for insertion of the distal end of the robotic arm is at least partially covered by a cover, which is a door, a flap, or a single-use sheet. In some embodiments, the surgical tool held by the cradle portion is accessible to the distal end of the robotic arm passing through the opening of the cartridge. In some embodiments, the holder includes a protrusion configured to engage a groove within the tool. The protrusion may be a cylindrical protrusion.

[0008] The present disclosure is directed to a surgical robotic system. The surgical robotic system includes the cartridge described herein and a robotic arm including a distal end configured to hold a surgical tool. In some embodiments, the holder is configured to move in a first direction by a force applied in the first direction by the robotic arm.

[0009] The present disclosure is directed to a method for providing a surgical tool to a robotic surgical system including a robotic arm. The method includes providing a cartridge including a surgical tool held in a cradle portion of a holder of the cartridge, inserting a distal end of the robotic arm into the cartridge, engaging the surgical tool with the distal end of the robotic arm, shifting the holder of the cartridge, actuating the surgical tool to release the surgical tool from the cartridge, and withdrawing the distal end of the robotic arm from the cartridge with the surgical tool attached thereto.

[0010] In some embodiments, actuating the surgical tool to release the surgical tool from the cartridge includes applying a force to the holder in a first direction via the distal end of the robotic arm, moving the holder in the first direction to release a portion of at least one biasing element partially held by the holder, and actuating the surgical tool to disengage the at least one biasing element from the surgical tool. In some embodiments, the first direction is a direction along the axis of the cartridge from an opening of the cartridge to the side of the cartridge opposite the opening.

[0011] The present disclosure is directed to a method for providing a surgical tool to a surgical robot system. The method may include providing a cartridge holding a surgical tool within a holder of the cartridge. The method may include inserting a distal end of a robotic arm of the surgical robot system into the cartridge. The method may include engaging the surgical tool using the distal end of the robotic arm. The method may include releasing the surgical tool from the holder. The method may include withdrawing the surgical tool from the cartridge. Releasing the surgical tool from the holder may include flexing a retaining mechanism (e.g., a detent) of a biasing element of the holder of the cartridge away from a corresponding receiving mechanism (e.g., a notch) of the surgical tool, including an actuating tool element of the surgical tool. The method may include withdrawing the surgical tool, including rotating or closing the surgical tool via the robotic arm to release the surgical tool from the holder of the cartridge. The method may include pivoting a cartridge lever of the cartridge to enable access to the cartridge by the robotic arm.

[0012] The present disclosure is directed to a cartridge including an RFID tag. The cartridge may also include an RFID blocking flag movable between a blocking position and a non-blocking position and at least one mechanical linkage connected to the RFID blocking flag to shift the RFID blocking flag between the blocking position and the non-blocking position.

[0013] In one aspect, the present disclosure is directed to a cartridge for holding and / or storing a surgical tool for a robotic surgical system, the cartridge including a cartridge body having an opening therein, a holder including a cradle portion configured to hold the surgical tool, an RFID tag, an RFID blocking flag, and at least one mechanical linkage enabling at least partially mechanical communication between the RFID blocking flag and the holder.

[0014] In some embodiments, the RFID blocking flag is at least substantially impermeable to RFID signals. In some embodiments, the RFID blocking flag is movable between a first position and a second position, where the RFID blocking flag in the first position blocks signals to and from the RFID tag, and the signals in the second position enable signals to and from the RFID tag.

[0015] These and other features and advantages of the present invention will be more fully understood by reference to the following detailed description in conjunction with the accompanying drawings, in which like reference numerals refer to like elements throughout the various figures. The drawings illustrate the principles of the invention and are not to scale, but show relative dimensions.

Brief Description of the Drawings

[0016]

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[0017] The embodiments taught herein provide a cartridge for a tool of a surgical robotic device and a method of using the same for attaching a tool to an arm of a surgical robotic device, such as an arm of a surgical robotic device.

[0018] The cartridge embodiments taught herein can provide several advantages. Embodiments of the cartridge taught herein can provide systems and devices for providing tools for use in a surgical robotic system within a cartridge that can be manipulated by a user to facilitate tool selection and attachment. Embodiments can be ergonomic and configured to be conveniently held by a user so that a firm grip on the cartridge can be maintained for the user to better engage the cartridge and / or tool with the robotic surgical system. In some embodiments, the shape of the cartridge can help guide the arm of the surgical robotic system and facilitate attaching the tool to the arm. Embodiments may provide a sterile environment for the tool and also fix the tool within the cartridge in a manner that reduces the potential for contamination or user error (e.g., a user inadvertently cutting or pinching themselves with the tool), reducing or eliminating the potential for user exposure to the tool. Embodiments can also provide flexibility in how the surgical robotic device operates. For example, initially, inserting all of the tools that need to be used at once by the surgical robotic system into the patient can pose an increased risk to the patient due to the potential for overuse of the incision site and the inherent complexity of safely storing and manipulating the tools during the surgical procedure. The present technology can facilitate tool removal and replacement throughout the surgery in a safe and convenient manner. After the procedure, the tool may be replaced within the cartridge provided herein for disposal of the tool in a sanitary manner or for cleaning and reuse of the tool.

[0019] Although various embodiments of an apparatus, a system, and a method for a cartridge for surgical tool exchange in a surgical robot system are illustrated and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example. However, it will be clear to those skilled in the art that the disclosed subject matter may be practiced without such specific details, and that certain features well known in the art are not described in detail in order to avoid obscuring the complexity of the subject matter of this disclosure and to enhance its clarity. Additionally, any examples provided below are merely illustrative and are not to be construed in a limiting fashion, and other systems, devices, and / or methods may be used to implement or carry out the teachings of the present invention and are contemplated by the inventors to be within the scope of the present invention. For convenience, unless otherwise indicated, like reference numerals are used to refer to like features of the various embodiments shown in the figures.

[0020] As used in this specification and the claims, the singular forms "a", "an", and "the" include plural referents unless the content clearly dictates otherwise. The terms "comprises" and / or "comprising", when used in this specification, specify the presence of the stated features, integers, steps, operations, elements, and / or components, but it is further understood that they do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] Unless specifically recited from the context or otherwise apparent, the term "about" as used herein is understood to be within the normal tolerances in the art, e.g., within two standard deviations of the average. "About" can be understood to be within 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0.1%, 0.05%, or 0.01% of the recited value. Unless otherwise apparent from the context, all numerical values provided herein are modified by the term "about".

[0022] Exemplary embodiments are described as using a plurality of units to perform an exemplary process, but it is understood that the exemplary process may also be performed by one or more modules. Further, it is understood that the term control device / control unit refers to a hardware device that includes a memory and a processor and is specifically programmed to execute the processes described herein. The memory is configured to store modules, and the processor is specifically configured to execute the modules to perform one or more processes further described below. In some embodiments, a plurality of different controllers or control units, or a plurality of different types of controllers or control units, may be used to perform one or more processes. In some embodiments, the different controllers or control units may be implemented in different parts of a surgical robot system.

[0023] The systems and methods of the present invention can be designed to be used in combination with one or more surgical robot systems that are part of a virtual reality surgical system, but the surgical robot systems of the present invention may be used in connection with any type of surgical system, including, for example, robotic surgical systems, linear stick-type surgical systems, and laparoscopic systems. Additionally, the systems of the present invention may be used in other non-surgical systems where a user needs access to numerous information while controlling a device or apparatus.

[0024] The present disclosure provides a system, apparatus, and method using a cartridge to ensure surgical tool exchange in a surgical robot system. In some embodiments, the cartridge may include a cartridge body having an opening therein, a holder comprising a cradle portion configured to hold a surgical tool, a spring connected to the holder and the cartridge body and configured to enable movement of the holder relative to the cartridge body as the spring compresses and extends, and a pair of biasing elements, each having a retaining mechanism at a first end configured to engage a corresponding receiving mechanism on a tool element and a second end attached to the cartridge body. In some embodiments, the holder also includes biasing element channels for a pair of biasing elements, each of the pair of biasing elements extending through a corresponding one of the biasing element channels, and the biasing element channels are configured to enable the holder to move along the central axis of the holder channel of the cartridge body relative to the pair of biasing elements while restricting lateral deflection of a portion of the biasing element located within the biasing element channel. Insertion of the robotic arm and the force of the robotic arm on the holder move the holder along the central axis, enabling the retaining mechanism of the biasing element to deflect and disengage from the receiving mechanism of the tool element, thereby releasing the tool element after the tool element engages the robotic arm.

[0025] Also provided is a cartridge having an RFID tag or chip configured to be read by a distal end of a robotic arm when the robotic arm is inserted into the cartridge for attachment or removal of a tool element. In some embodiments, the cartridge also includes an RFID blocking flag that selectively reduces the signal from the RFID tag or chip, enabling more accurate detection of the proximity of the robotic arm to the RFID tag or chip of the cartridge using the RFID signal.

[0026] Tool elements, surgical tool exchange, and aspects of a surgical robot system that may be employed in several embodiments are described below with reference to FIG. 1, and aspects of robotic arms and end effectors that may be employed in several embodiments are described below with reference to FIGS. 2-6.

[0027] Surgical Robot System and End Effector The surgical robot system of the present disclosure uses a robotic subsystem that includes a robotic unit that can be inserted into a patient through a trocar through a single incision point or site. The robotic unit is small enough to be deployed in vivo at the surgical site and is sufficiently maneuverable when inserted so as to be able to move within the body to perform various surgical procedures at multiple different points or sites. The robotic unit includes a plurality of distinct robotic arms that can be deployed within the patient along different or separate axes. Further, a surgical camera assembly can also be deployed along a separate axis and can form part of the robotic unit. Thus, the robotic unit uses a pair of robotic arms and a plurality of different components such as a surgical or robotic camera assembly, each of which can be deployed along a different axis and is separately operable, maneuverable, and movable. The robotic arms and camera assemblies that can be disposed along distinct operable axes are referred to herein as a split arm (SA) architecture. The SA architecture simplifies and enhances the efficiency of the insertion of robotic surgical instruments through a single trocar at a single insertion site, while also facilitating the deployment of the robotic surgical instruments to a surgically ready state and the subsequent removal of the robotic surgical instruments through the trocar. As an example, a robotic surgical instrument can be inserted through the trocar to access the patient's abdominal cavity and perform surgery in vivo. In some embodiments, various surgical instruments may be utilized, including but not limited to robotic surgical instruments and other surgical instruments known in the art.

[0028] The systems and methods disclosed herein are incorporated into, and / or utilized with, for example, the robotic surgical devices and related systems disclosed in U.S. Patent No. 10,285,765 and PCT Patent Application No. PCT / US2020 / 39203, and / or the camera assemblies and systems disclosed in U.S. Patent Application Publication No. 2019 / 0076199, and / or the systems and methods disclosed in PCT Patent Application No. PCT / US2021 / 058820 for the exchange of surgical tools in an implantable robotic surgical system. The entire contents and teachings of the above-mentioned patents, patent applications, and publications are hereby incorporated by reference. The robotic unit forming part of the present invention can form part of a robotic subsystem, which forms part of a robotic surgical system including a surgeon or user workstation with suitable sensors and display units, and a robotic support system (RSS) for interacting with and supporting the robotic unit of the present invention. The robotic subsystem includes, in some embodiments, a motor unit and a robotic surgical unit including one or more robotic arms and one or more camera assemblies. The implantable robotic arm and camera assembly can form part of a single support axis robotic system or part of a split arm architecture robotic system. The robotic surgical unit can provide a plurality of degrees of freedom so that the robotic unit can be maneuvered to a single position or multiple different positions within the patient. In one embodiment, the robotic support system can be directly attached to the operating table, or the floor or ceiling in the operating room. In another embodiment, the attachment is achieved by various fastening means including, but not limited to, clamps, screws, or combinations thereof. In other embodiments, the structure may be upright. The robotic support system can attach a motor assembly connected to the robotic surgical unit including the robotic arm and camera assembly.The robotic support system can attach a motor assembly coupled to a surgical robot unit and can include gears, motors, drive trains, electronics, etc. for powering components of the surgical robot unit.

[0029] The robotic arm and camera assembly can have multiple degrees of freedom of movement. According to one practice, when the robotic arm and camera assembly are inserted into a patient through a trocar, they can move in at least the axial, yaw, pitch, and roll directions. The robotic arm assembly incorporates and is designed to utilize a multi-degree-of-freedom robotic arm having an end effector region attached to its distal end that corresponds to the user's wrist and hand area or joint. In other embodiments, the working end of the robotic arm (e.g., the end effector end) is designed to incorporate and utilize other robotic surgical instruments, such as the surgical instrument described in U.S. Patent Application Publication No. 2018 / 0221102, the content of which is incorporated herein by reference.

[0030] FIG. 1 is a schematic diagram of a surgical robot system 10 in which aspects of the present disclosure can be employed according to some embodiments of the present disclosure. The surgical robot system 10 includes an operator console 11 and a robot subsystem 20 according to some embodiments.

[0031] The operator console includes a display device or unit, an image computing unit that can be a virtual reality (VR) computing unit, a hand controller having a sensing and tracking unit, a computing unit, and a mode selection controller.

[0032] The display unit 12 can be any selected type of display for displaying information, images, or videos generated by the VR computing unit 14, the computing unit 18, and / or the robot subsystem 20. The display unit can include, for example, a head-mounted display (HMD), an augmented reality (AR) display (e.g., an AR display, or AR glasses combined with a screen or display), a screen or display, a two-dimensional (2D) screen or display, a three-dimensional (3D) screen or display, etc., or can form a part thereof. The display unit may also include an optional sensing and tracking unit 16A. In some embodiments, the display 12 can include an image display for outputting images from the camera assembly 44 of the robot subsystem 20.

[0033] In some embodiments, when the display unit includes an HMD device, an AR device that senses the head position, or another device that uses the associated sensing and tracking unit 16A, the HMD device or the head tracking device generates tracking and position data 34A that is received and processed by the image calculation unit. In some embodiments, the HMD, AR device, or other head tracking device can provide an operator (e.g., a surgeon, a nurse, or other suitable medical professional) with a display that is at least partially coupled or attached to the operator's head, a lens that enables a field of view focused on the display, and a sensing and tracking unit 16A for providing head position and orientation tracking of the operator. The sensing and tracking unit 16A can include, for example, an accelerometer, a gyroscope, a magnetometer, a motion processor, infrared tracking, eye tracking, computer vision, emission and sensing of alternating magnetic fields, and any other method for tracking at least one of position and orientation, or any combination thereof. In some embodiments, the HMD or AR device can provide image data from the camera assembly 44 to the operator's right and left eyes. In some embodiments, to maintain the operator's virtual reality experience, the sensing and tracking unit 16A tracks the position and orientation of the operator's head, generates tracking and position data 34A, and then can relay the tracking and position data 34A directly to the image calculation unit 14 and / or the calculation unit 18, or via the image calculation unit 14.

[0034] The hand controller 17 is configured to sense the movement of the operator's hand and / or arm to operate the surgical robot system 10. The hand controller 17 may include a sensing and tracking unit 16, circuitry, and / or other hardware. The sensing and tracking unit 16 may include one or more sensors or detectors that sense the movement of the operator's hand. In some embodiments, the one or more sensors or detectors that sense the movement of the operator's hand are disposed within a pair of hand controllers that are gripped or engaged by the operator's hand. In some embodiments, the one or more sensors or detectors that sense the movement of the operator's hand are coupled to the operator's hand and / or arm. For example, the sensors of the sensing and tracking unit 16 may be coupled to areas of the hand and / or arm such as the fingers, wrist area, elbow area, and / or shoulder area. When an HMD is not used, in some embodiments, additional sensors can also be coupled to the operator's head and / or neck area. When the operator uses an HMD, eye, head, and / or neck sensors and associated tracking techniques may be incorporated within or used with that HMD device and, as described above, can thus form part of the optional sensor and tracking unit 16A. In some embodiments, the sensing and tracking unit 16 may be external and may be coupled to the hand controller 17 via electrical components and / or wearable hardware.

[0035] In some embodiments, the sensing and tracking unit 16 can use sensors coupled to the operator's torso or any other body part. In some embodiments, the sensing and tracking unit 16 can use, in addition to sensors, an inertial momentum unit (IMU) having, for example, an accelerometer, a gyroscope, a magnetometer, and a motion processor. The addition of a magnetometer can reduce sensor drift around the vertical axis. In some embodiments, the sensing and tracking unit 16 also includes sensors placed within surgical materials such as gloves, surgical scrubs, or surgical gowns. The sensors may be reusable or disposable. In some embodiments, the sensors can be disposed outside the operator, such as at a fixed location in a room such as an operating room. The external sensors can be processed by the computing unit 18 and thus generate external data 36 that can be used by the surgical robot system 10.

[0036] The sensors generate position and / or orientation data indicating the position and / or orientation of the operator's hand and / or arm. The sensing and tracking module 16 and / or 16A can be utilized to control the movement (e.g., changes in position and / or orientation) of the camera assembly 44 and the robotic arm 42 of the robot subsystem 20. The tracking and position data 34 generated by the sensing and tracking unit 16 can be transmitted to the computing unit 18 for processing by the processor 22.

[0037] The calculation module 18 can determine or calculate, and transmit to the robot subsystem 20, from the tracking and position data 34 and 34A, the position and / or orientation of the operator's hand or arm, and in some embodiments, also a part of the operator's head. The tracking and position data 34 and 34A can be processed by the processor 22 and stored, for example, in the storage unit 24. The tracking and position data 34A can also be used by the control unit 26, which can generate control signals for controlling the movement of the robot arm assembly 42 and / or the camera assembly 44 in response thereto. For example, the controller 26 can change the position and / or orientation of at least a part of the camera assembly 44, at least a part of the robot arm 42, or both. In some embodiments, the control unit 26 can also adjust the pan and tilt of the camera assembly 44 to follow the movement of the operator's head.

[0038] The robot subsystem 20 can include a robot support system (RSS) 46 having a motor 40 and a trochlear 50 or trochlear mount, a robot arm 42, and a camera assembly 44. The robot arm 42 and the camera assembly 44 can form part of a single support axis robot unit as disclosed and described in U.S. Patent No. 10,285,765, or can form part of a split arm (SA) architecture robot system as disclosed and described in PCT Patent Application No. PCT / US2020 / 039203, both of which are hereby incorporated by reference in their entirety.

[0039] The robotic subsystem 20 can use a plurality of different robotic arms that can be deployed along different or distinct axes. In some embodiments, a camera assembly 44 that can use a plurality of different camera elements can also be deployed along a common distinct axis. Thus, the surgical robotic system 10 can use a pair of distinct robotic arms deployable along different axes and a plurality of different components such as the camera assembly 44. In some embodiments, the robotic arm assembly 42 and the camera assembly 44 are separately operable, maneuverable, and movable. The robotic subsystem 20 including the robotic arm 42 and the camera assembly 44 is disposable along distinct operable axes and is referred to herein as the SA architecture. The SA architecture simplifies and enhances the efficiency of the insertion of robotic surgical instruments through a single trocar at a single insertion point or site, while also facilitating the deployment of the robotic surgical instruments into a surgically ready state and, as further described below, the subsequent removal of the robotic surgical instruments through the trocar 50.

[0040] The RSS 46 can include a motor unit 40 and a trocar 50. The RSS 46 can further include a support member that supports the motor unit 40 coupled to its distal end. The motor unit 40 can be coupled to each of the camera assembly 44 and the robotic arm 42. The support member can be configured and controlled to operate one or more components of the robotic subsystem 20 linearly or in any other selected direction or orientation. In some embodiments, the RSS 46 can be upright. In some embodiments, the RSS 46 can include a motor 40 that is coupled to the robotic subsystem 20 at one end and to an adjustable support member or element at the opposite end.

[0041] The motor unit 40 can receive a control signal generated by the control unit 26. The motor 40 can include gears, one or more motors, a drive train, electronics, etc. for powering and driving the robotic arm 42 and the camera assembly 44 either individually or together. The motor 40 can also provide mechanical power, power, mechanical communication, and electrical communication to the robotic arm 42, the camera assembly 44, and / or other components of the RSS 46 and the robot subsystem 20. The motor unit 40 can be controlled by the computing unit 18. Thus, the motor unit 40 can generate signals for controlling one or more motors that can control and drive the robotic arm assembly 42, including, for example, the position and orientation of each joint that moves each joint of each robotic arm, and the camera assembly 44. The motor unit 40 can further provide a translational or linear degree of freedom that is first utilized to insert and remove each component of the robot assembly 20 through the trocar 50. The motor 40 can also be used to adjust the insertion depth of each robotic arm 42 when inserted into the patient 100 through the trocar 50.

[0042] A trocar can be a medical device that can consist of a claw (which may be a sharp or bladeless tip of metal or plastic), a cannula (essentially a hollow tube), and a seal. The trocar can be used to place at least a portion of the robot subsystem 20 within an internal cavity of a subject (e.g., a patient) and can draw gas and / or fluid out of the body cavity. The robot subsystem 20 can be inserted through the trocar 50 to access the patient's body cavity and perform surgery in vivo. The robot assembly 20 can be supported by the trocar with multiple degrees of freedom such that the robotic arm assembly 42 and the camera assembly 44 can be maneuvered within the patient at a single position or multiple different positions.

[0043] In some embodiments, RSS 46 may further include an optional controller for processing input data from one or more of the system components (e.g., display 12, sensing and tracking module 16, robotic arm 42, camera assembly 44, etc.) and for generating control signals in response thereto. Motor unit 40 may also include a storage element for storing data.

[0044] In some embodiments and in some operating modes, the robotic arm 42 can be controlled to follow a scaled-down movement or motion of the operator's arm and / or hand as sensed by associated sensors. The robotic arm 42 includes a first robotic arm having a first end effector with an instrument tip disposed at the distal end of the first robotic arm, and a second robotic arm having a second end effector with an instrument tip disposed at the distal end of the second robotic arm. In some embodiments, the robotic arm 42 can have parts or regions associated with the movement of the shoulder joint, elbow joint, and wrist joint and with movements that can be associated with the operator's fingers. For example, the robotic elbow joint can follow the position and orientation of the human elbow, and the robotic wrist joint can follow the position and orientation of the human wrist. The robotic arm 42 can also have an end region associated therewith, which can, in some embodiments, terminate in an end effector that follows the movement of one or more of the operator's fingers, such as the index finger, when, for example, the user pinches the index finger and thumb together. In some embodiments, the robotic arms of the robotic arm assembly 42 follow the movement of the operator's arm in some control modes (e.g., scaled-down arm control mode), but the robotic shoulder is fixed in a predetermined position in such control modes. In some embodiments, the position and orientation of the operator's torso are subtracted from the position and orientation of the operator's arm and / or hand. This subtraction enables the operator to move the torso without the robotic arm moving. Further disclosure of the control of the movement of the individual arms of the robotic arm assembly is provided in International Patent Application Publication Nos. WO 2022 / 094000 A1 and WO 2021 / 231402 A1, each of which is incorporated herein by reference in its entirety.

[0045] The camera assembly 44 is configured to provide the operator with image data 48, such as, for example, live video feeds of a surgery or the surgical site, and to enable the operator to operate and control a camera forming part of the camera assembly 44. In some embodiments, the camera assembly 44 may include one or more cameras (e.g., a pair of cameras) whose optical axes are axially separated by a selected distance, which is known as the inter-camera distance and provides a stereoscopic view or image of the surgical site. In some embodiments, the operator can control the movement of the camera via the movement of the hand, either via a sensor coupled to the operator's hand or via a hand controller gripped or held by the operator's hand, and thus the operator can obtain a desired view of the surgical site in an intuitive and natural manner. In some embodiments, the operator can additionally control the movement of the camera via the movement of the operator's head. The camera assembly 44 is movable in a plurality of directions, including, for example, the yaw, pitch, and roll directions, with respect to the direction of the field of view. In some embodiments, the components of the stereoscopic camera can be configured to provide a natural and comfortable user experience. In some embodiments, the inter-axial distance between the cameras can be modified to adjust the perceived depth of the surgical site by the operator.

[0046] The image or video data 48 generated by the camera assembly 44 can be displayed on the display unit 12. In embodiments where the display unit 12 includes an HMD, the display can include an embedded sensing and tracking unit 16A that obtains raw orientation data in the yaw, pitch, and roll directions of the HMD, as well as position data within the Cartesian space (x, y, z) of the HMD. In some embodiments, the position and orientation data regarding the operator's head can be provided via a separate head tracking unit. In some embodiments, the sensing and tracking unit 16A can be used to provide supplementary position and orientation tracking data for the display, instead of or in addition to the embedded tracking system of the HMD. In some embodiments, operator head tracking is not used or employed.

[0047] Figures 2A and 2B show a general design of selected components of the robotic arm 42 that enable a user or operator to replace the tool element of the robotic arm 42 without requiring replacement of the entire robotic arm 42, according to some embodiments. Thus, the end effector region of the robotic arm provides a very functional and user-friendly mechanical connection that enables easy removal and replacement of the tool in some embodiments. For a cartridge that further facilitates replacement of the tool element according to some embodiments, and a tool element configured to be held by such a cartridge, see FIGS. 7A-27.

[0048] For simplicity, only a single robotic arm 42 is shown in FIGS. 2A and 2B, but a second or subsequent robotic arm can be similar or identical in form and function. The robotic arm can also, or alternatively, be referred to herein as a "robotic arm". The exemplary robotic arm 42 can include a series of articulating motion segments 52 that form joint sections corresponding to the joints of a human arm. Thus, the articulating motion segments 52 can be constructed and combined to provide rotational and / or hinged movement to mimic different parts of a human arm, such as, for example, the shoulder joint or region, the elbow joint or region, and the wrist joint or region 58. The articulating motion segments 52 of the robotic arm 42 provide, for example, cable-driven rotational movement and are constructed to stay within reasonable rotational limits. The articulating motion segments 52 are configured to provide maximum torque and speed at a minimum size. The articulating motion segments 56 are mechanically coupled together and end at an end effector portion or segment 54. The end effector portion 54 includes, in some embodiments, a tool base portion 56 that can incorporate therein any selected surgical tool or tool element used to perform a desired or selected surgical procedure. For example, the illustrated tool base 56 attaches a pair of tool elements 80, 82. In this example, the tool elements are grippers, but one of ordinary skill in the art considering the present disclosure will readily recognize that any selected type of surgical tool can be used, such as, for example, a grasper, bipolar forceps, scissors, a needle driver, and a cautery hook. FIG. 2B shows that the end effector portion 52 and the adjacent arm segment 56 form the wrist joint 58 of the robotic arm 42. The end effector portion 54 is also shown in detail in FIGS. 3-12C according to some embodiments.

[0049] In FIG. 2A, effector portion 54 includes opposing tool base segments 60 and 62, pulley elements 70 and 72, and tool elements 80 and 82, shown as a pair of grippers or grasping elements in some embodiments. Tool base portion 56 is assembled in some embodiments by attaching pulley element 70 to tool base segment 60 via a protrusion such as a post. Similarly, pulley element 72 is attached to tool base segment 62 via a similar post in some embodiments.

[0050] As shown, tool base 56 can include two independently driven rotatable pulley elements 70, 72. When the pulley elements are arranged to open at an angle wider than the angle required for the tool elements in a surgical procedure (e.g., open tool exchange position), the mechanical features on the pulley elements align, allowing the tool elements to be easily removed therefrom, such as by sliding the tool elements out or gently pushing the tool from the tool base, in some embodiments.

[0051] Figures 5A-5D illustrate certain features of an embodiment of an end effector portion or segment 54 characterized by tool elements 80 and 82, opposing tool base segments 60 and 62, and connection flanges 64 and 66. In FIGS. 5A-5D, the opposing tool elements 80, 82 are rotated relative to the opposing tool base segments 60 and 62 to achieve different positions during a procedure and enable cutting or other operations. FIG. 6 shows an end effector portion or segment 74 having scored or serrated working surfaces 116A and 116B on tool elements 102 and 104. As shown in FIG. 6, the tool elements 102 and 104 define slots 186. FIG. 6 shows the engagement of an end effector portion or segment 74 with tool elements 102 and 104 and raised or projecting boss elements 130 that form a portion of the distal end 49 of a robotic arm, such as arm 42 of robotic unit 50, as shown in FIG. 2A. The raised or projecting boss elements 130 and pulley elements 120 are configured to mate with slots 186 of the end effector portion or segment 74.

[0052] Tool In one aspect, the systems, devices, and methods disclosed herein employ a cartridge that facilitates holding a tool element having a corresponding mating feature and placing the tool element on the distal end of a robotic arm to form a functional end effector tool. The cartridge also functions to receive and hold the tool element from the distal end of the robotic arm and enables placing different tool elements held within different cartridges on the same robotic arm. In embodiments, the cartridge is designed to securely hold the tool element and enable easy removal of the tool element and attachment to the distal end of the robotic arm to form a functional tool for use in a surgical procedure. Tools contemplated herein include, but are not limited to, graspers, bipolar forceps, scissors, needle drivers, and cautery hooks. The tool may also be configured to include a conductive contact element. The cartridge of the present invention may be characterized by an internal structure designed to hold the tool element within a tool holding cavity of the cartridge to enable removal of the tool element by the robotic arm. Because the tool element is held within the cartridge, the tool element may be maintained in a sanitary and / or sterile condition and protected from damage due to dropping, impact by other objects, or other contact. Further, use of the cartridge system facilitates replacing tool elements corresponding to different tools and advantageously enables use of multiple tools by the robotic arm of the robotic system during a surgical procedure. Additionally, use of the cartridge may facilitate shipping, storage, and inventory of surgical tool elements.

[0053] FIG. 7A shows a tool element 220 configured to be held by a cartridge 200 according to some embodiments. The tool element 220 defines a slot 230 and includes notches 225A, 225B as receiving mechanisms. The tool element also includes an extension portion 222 extending from a base portion. In some embodiments, the extension portion 222 has a smooth gripping surface 223. FIGS. 7B and 7C show diagrams of another embodiment of the tool element 280. The tool element 280 defines a slot 284 and includes notches 285A, 285B. The tool element 280 also has an extension portion 282 extending from a base portion 281. The extension portion 282 includes a serrated gripping surface 283 according to some embodiments.

[0054] Cartridge FIGS. 8A and 8B illustrate a cartridge 200 according to some embodiments of the present disclosure. The cartridge 200 includes a cartridge body 201. The cartridge body 201 includes a cover portion 275 coupled to a base portion 277. The cartridge body 201 defines a tool for holding a cavity 235, a holder channel 204, an arm and tool channel 202, and an access opening 203. The cartridge 200 includes, in some embodiments, a holder 205 disposed within the cartridge body 201. The holder 205 includes a cradle portion 207 configured to engage at least a portion of the tool element. In some embodiments, the cradle portion 207 includes an upper cradle portion and a lower cradle portion for engaging and holding the tool elements 220A, 220B. A second end of the holder 205D on the opposite side of the cradle portion extends into the holder channel 204 of the cartridge body and is connected to the cartridge body 201 directly or through one or more different elements via a spring 208. The spring 208 and the holder channel 204 are configured to allow movement of the holder 205 along the central axis 209 of the holder channel 204 with respect to the cartridge body 201 during compression or extension of the spring 208.

[0055] The cartridge 200 also includes biasing elements 210A, 210B that extend parallel to the central axis 209 of the holder channel 204. In some embodiments, the biasing elements 210A, 210B may be spring tabs. In some embodiments, each biasing element includes detents 212A, 212B as a retaining mechanism at a first end of the biasing element, which may be referred to as the proximal end of the biasing element. Each detent is configured to engage with a corresponding notch on the tool element. Each biasing element 210A, 210B is connected to the cartridge body at a second end 211A, 211B, which may be described as the distal end in some embodiments. The holder 205 includes a biasing element channel 206 through which the biasing elements 210A, 210B extend. The biasing element channel 206 is configured to allow the holder 205 to move along the axis of the central axis 209 of the holder channel 209 with respect to the pair of biasing elements 210A, 210B while restricting lateral deflection of a portion of the biasing elements positioned within the biasing element channel 206.

[0056] The cartridge body 201 includes an arm and a tool channel 202 that extends to an opening (access opening 203) on the side surface 278 of the cartridge body 201. The arm and tool channel 202 is configured to receive the distal end 49 of the robotic arm 42, allow rotation of the tool elements (e.g., tool elements 220A, 220B), and allow withdrawal of the distal end 49 of the robotic arm 42 having the tool elements 220A, 220B attached thereto.

[0057] At least a portion of the cartridge body 201, for example, at least a portion of the cover portion 275 of the cartridge body 201, may be formed of a transparent material that allows visual identification or confirmation of the presence and / or configuration of the tool elements 220A, 220B within the cartridge 200.

[0058] FIG. 8B shows detents 212A, 212B that engage notches 225A, 225B of tool elements 220A, 220B, since the tool elements are held in cartridge 200. FIG. 8B also shows the distal end 49 of robotic arm 42, which features pulley element 120 and raised or protruding boss element 130. Cartridge 200 enables entry of the distal end 49 of robotic arm 42 through access opening 203 and into the arm and tool channels 202 of cartridge body 201, enabling the distal end 49 of robotic arm 42 to engage tool elements 220A, 220B, and more specifically enabling boss element 130 to engage slots 230 of tool elements 220A, 220B. Detents 212A, 212B are sized and positioned to engage notches 220A, 220B when held within the arm and tool channels 202 of cartridge body 201 by cradle portion 207. In some embodiments, detents 212A, 212B have a circular or semi-circular profile.

[0059] Figures 9A and 9B illustrate a cartridge 200 that further includes an RFID chip or tag 279 included in a future embodiment. The cartridge 200 includes a cartridge body 201 that includes a cover portion 275 that is itself coupled to a base portion 277. The cover portion is illustrated in Figure 9A. The cartridge body 201 is also configured to receive at least a portion of the distal end 49 of the robotic arm 42 and includes an arm or tool channel 202 configured for the withdrawal of the robotic arm 42 after tool elements (e.g., tool elements 80, 82) are attached onto the distal end 49. A cradle portion 2207 is disposed at a first end of the holder 205 and is configured to engage and hold the tool element. The cradle portion 2207 features an upper cradle portion 215A and a lower cradle portion 215B that can hold the tool elements 80, 82. A second end of the holder 205D on the opposite side of the cradle portion 2207 extends into a holder channel 204 of the cartridge body 201 and is connected to the cartridge body 201 directly or through one or more different elements via a spring 208. The spring 208 and the holder channel 204 are configured to allow movement of the holder 205 along the central axis of the holder channel 204 with respect to the cartridge body 201 during compression or extension of the spring.

[0060] Cartridge 200 also includes biasing elements 210A, 210B that extend parallel to the central axis 209 of the holder channel 204. In some embodiments, each biasing element includes detents 212A, 212B at a first end of the biasing element, which may be referred to as the proximal end of the biasing element. Each detent 212A, 212B is configured to engage with a corresponding notch on the tool element. Each biasing element 210A, 210B is connected to the cartridge body at a second end that may be described as a distal end in some embodiments. Holder 205 includes biasing element channels 206A, 206B through which biasing elements 210A, 210B extend. Biasing element channels 206A, 206B are configured to allow holder 205 to move along the central axis 209 of holder channel 204 with respect to the pair of biasing elements 210A, 210B while restricting lateral deflection of a portion of biasing elements 210A, 210B positioned within biasing element channels 206A, 206B.

[0061] Cartridge 200 also includes an RFID chip or tag 279. The RFID chip or tag 279 may be positioned near the surface of the arm and tool channel 202. The RFID chip or tag 279 is configured to interact with an RFID reader positioned on or within the distal end of a robotic arm that can read the contents of the RFID chip or tag 279. In some embodiments, the RFID chip or tag 279 stores information (e.g., information about tool elements 220A, 220B) stored within the cartridge. The information may include any or all of information identifying the tool element (e.g., type, model number, etc.), information regarding the expiration date of the tool element, a serial number associated with the tool element, or other useful information. In some embodiments, when the RFID reader receives information from the RFID chip or tag 279 regarding a tool element, the control system of the robotic arm may store the received information regarding the tool element currently attached to the robotic arm and / or store an identification of the tool element currently attached to the robotic arm based on the received information.

[0062] In some embodiments, after a first set of tool elements 220A, 220B is removed from the robotic arm 42 and the distal end 49 of the robotic arm 42 is inserted into a second cartridge that holds a second set of tool elements, second information is received by an RFID reader of the robotic arm 42 from an RFID chip or tag 279 of the second cartridge regarding the second set of tool elements stored in the second cartridge. In some embodiments, the control system of the robotic arm 42 may store the received second information regarding the second set of tool elements currently mounted on the robotic arm 42. In response to the receipt of the second information, the control system may overwrite the identification of the previous tool elements 220A, 220B currently mounted on the robotic arm 42 with the identification of the second set of tool elements currently mounted on the robotic arm based on the received second information. Additional aspects of the RFID tag or chip 279 of the cartridge 200 and the RFID reader at the distal end of the robotic arm are described below with respect to FIGS. 17-19. The operation of the embodiment of the RFID chip or tag 279 is further described below in the section entitled RFID Engagement Sensing.

[0063] Figures 10A - 10C illustrate the process by which the distal end 49 of the robotic arm 42 engages with tool elements 220A, 220B held within the tool - holding cavities 235 of the cartridge 200. In Figure 10A, the distal end 49 of the robotic arm 42 is inserted into the cartridge 200 via a tool channel 202 that includes a portion of the access opening 203 on the side surface 278. The access opening 203 on the side surface 278 is provided with a single - use covering material such as a reusable door or a plastic sheet to provide protection from dust or other contaminants while allowing the entry of the distal end 49 of the robotic arm 42 as shown in Figure 10A. Figure 10B shows further insertion of the distal end 49 of the robotic arm 42 such that the boss element 130 of the distal end 49 of the robotic arm 42 fits within the slots 230 of the tool elements 220A, 220B. Here in Figure 10C, the distal end 49 of the robotic arm 42 is further inserted into the cartridge 200 by pressing against the holder 205 to compress a spring 208 (not shown in Figure 10C), allowing the holder 205 to move away from the opening. The holder 205 is characterized by a biasing - element channel 206 that restricts the return of the biasing elements 210A, 210B. When the holder 205 returns into the holder channel, a portion of the biasing elements 212A, 212B near the return stops 210A, 210B is released from the biasing - element channel 206 of the holder 205 and can thus bend. As shown in Figure 10C, the portions of the biasing elements 212A, 212B each including the return stops 210A, 210B bend outwardly B due to the force from the body of the tool elements 210A, 210 when they are no longer held in place by the holder 205. When bent, they disengage from the corresponding notches 220A, 220B of the tool elements 225A, 225B, thereby enabling the tool elements 220A, 220B to be pulled out from the cradle portion 207 of the holder 205. After the distal end 49 of the robotic arm 42 engages with the tool elements 220A, 220B and they are released from the corresponding return stops 212A, 212B, they can be pulled out from the cartridge 201 body through the opening 270 of the cartridge body 201.In an embodiment, the arm 42 may rotate the tool element 222 to close the arm and reduce the width of the tool 220 to enable easier withdrawal through the opening 203.

[0064] Figures 11A - 11D further illustrate the cartridge 200 when the tool 220 is in the storage position within the cartridge 200. In particular, FIG. 11A shows a top view having a cover portion 275 of the cartridge body 201 omitted for illustrative purposes, and shows in particular the holder 205. FIG. 11B shows a top view in which the biasing element channels 206 and the detents 212A, 212B of the holder 205 are visible, and the biasing elements 210A, 210B extend through the biasing element channels 206. FIG. 11C is a perspective view with the cover portion omitted for illustrative purposes, and FIG. 11D is a perspective view of a section through the cartridge.

[0065] Figures 12A - 12D show views of the cartridge 200 when the arm 42 is engaged with the tool 220 after the distal end 49 has been inserted into the cartridge 200. FIG. 12A shows a top view having a cover portion 275 of the cartridge body 201 omitted for illustrative purposes, and shows in particular the holder 205. FIG. 12B shows a top view in which the biasing element channels 206 and the detents 212A, 212B of the holder 205 are visible, and the biasing elements 210A, 210B extend through the biasing element channels 206. FIG. 12C is a perspective view with the cover portion omitted for illustrative purposes. 12D is a perspective view of a section through the cartridge. Figures 12A - 12D illustrate a configuration in which the arm 42 is engaged, but no force is applied to shift the holder 205 by the arm 42.

[0066] Figures 13A - 13D show views of cartridge 200 when arm 42 is actuated to engage tool 220, apply force to holder 205, shift holder 205, and compress spring 208. Figure 13A shows a top view with cover portion 275 of cartridge body 201 omitted for purposes of illustration, showing holder 205 in particular. Figure 13B shows a top view in which biasing element channels 206 of holder 205 and detents 212A, 212B are visible, and biasing elements 210A, 210B extend through biasing element channels 206. Figure 13C is a perspective view with the cover portion omitted for illustrative purposes. 13D is a perspective view of a section through the cartridge. Further, by shifting holder 205, biasing element channels 206 are then shifted, and the force applied by tool elements 220A, 220B exceeds the spring force of biasing elements 210A, 210B, and thus enables the proximal portions of the biasing elements including detents 212A, 212B to deflect when detents 212A, 212B disengage from corresponding notches of tool elements 220A, 220B.

[0067] Figures 14A - 14D show views of cartridge 200 including tool element 220 mounted within cradle portion 207 of holder 205. Cartridge 200 includes a holder channel 204 having a central axis 209. Cartridge 200 may also include an RFID tag 279 which may be an RFID chip configured to interact with an RFID reader 552 which may be within distal end 49 of robot arm 42 in some embodiments. Figure 14E shows cartridge 200 with distal end 49 of robot arm 42 inserted into cartridge 200 and engaged with tool element 220.

[0068] Figures 15A and 15B illustrate springs 608605A, 605B608A, 608B respectively. In cartridge 600, holders 605A, 605B do not move parallel to the insertion direction but instead move perpendicular to the insertion direction in the lateral direction. The ends of tool elements 605A, 605B620A, 620B are configured to support tool elements 620A, 620B from the sides. Cartridge 600 has biasing elements 610A, 610B associated with each holder. In some embodiments, each biasing element 610, 610B includes tool elements 612A, 612B620A, 620B. 625A, 625B In some embodiments, retaining mechanisms 625A, 625B are notches or other elements for receiving a portion of the biasing element. Each holder 605A, 605B cradles and holds the body of tool elements 620A, 620B0B (e.g., tool elements 1620A, 620B as shown in FIG. 6, tool elements 6620A, 620B) on each lateral side. Each holder 605A, 605B is connected to respective springs 608A, 608B1. Springs 608A, 608B are configured to allow the holders 605A, 605B to be displaced laterally so as to move away from tool elements 6620A, 620B. The laterally moving holder portions are shown in FIGS. 22A - 22D.

[0069] For mounting or installing tool elements 620A, 620B on distal end 49 of robot arm 42 in FIG. 15B, the distal end 49 is inserted into the cartridge and engages the tool elements 620A, 620B. Next, the distal end 49 is further advanced to push out tool elements 605A, 605B620A, 620B so as to move laterally in a direction away from holders 620A, 620B605A, 605B. Further, biasing elements 610A, 610B are deflected, whereby detents 612A, 612B bend out of tool elements 6620A, 620B and notches 625A, 625B. In this way, tool elements 620A, 620B can be engaged by distal end 49 and disengaged from tool elements 605A, 605BB and detents 612A, 6612A, 612B2B. 620A, 620B

[0070] The method 800 shown in FIG. 16 illustrates an exemplary process according to the present disclosure. Some embodiments include accessing tool elements 220A, 220B. The tool 220 may be stored within the cartridge 200, for example, for shipping and storage of the tool 220 within the pre-treatment cartridge 200, preparation for treatment, or as a secondary or alternative tool during a surgical procedure. The holder 205 holds the tool 220 and 225A, 225B engage detents 210A, 210B on 212A, 212B.

[0071] Some embodiments include inserting (802) the distal end 49 of the robotic arm 42 into the cartridge 200. Some embodiments include engaging (803) the distal end 49 of the robotic arm 42 with the tool 220. For example, a boss element 130 on the distal end 48 may engage a slot 230 of the tool 220. The engagement may occur via friction between the surfaces of the two components. Some embodiments include further inserting the distal end 48 of the arm 42 to move the holder 205 and compress the spring 208 (804). As the holder 205 moves in this direction, the holder 205 moves away from the biasing elements 212A, 212B, 210A, 210B, allowing movement of the biasing elements. Some embodiments include actuating the tool element to bend the detent of the biasing element away from the corresponding notch of the tool element (805). Some embodiments include withdrawing the arm from the cartridge and thus removing the tool (806). The arm may articulate the tool elements to close them and reduce the width of the tool for withdrawal from the cartridge.

[0072] Tool 220 is also contemplated in the present disclosure to be replaceable within cartridge 200, for example, in method 800, by substantially reversing the procedure described for removing tool 220 from cartridge 200. Replacement of tool 220 within cartridge 200 may be performed, for example, during a procedure, to switch the tool 220 used on robotic arm 42, and to maintain tool 220 within a sterilized and protected environment while a second tool is being used, and as a result, optionally, the first tool 220 is reattached to arm 42 and may be a subsequent step in the procedure for further use of tool 220. Further, replacing tool 220 within cartridge 200 may, for example, enable easier handling of tool 220 by maintaining the tools and any body fluids or other bodily substances they may have within cartridge 200, and may facilitate cleaning of the surgical robot after the procedure is completed or, if desired, during the procedure.

[0073] Cartridge body 201 may be made of a plastic material such as PET (polyethylene terephthalate), HDPE (high density polyethylene), PVC (polyvinyl chloride), PP (polypropylene), or PS (polystyrene). As another method, the cartridge body and the cartridge support may be made of a metal including steel, stainless steel, aluminum, nickel, copper, zinc, tin, and alloys (including brass, nickel-chromium alloy, etc.).

[0074] The biasing elements 210A, 210B may be made of any material having mechanical properties sufficient to hold the tool element in a fixed position by engaging a detent of the biasing element with a corresponding notch of the tool element. In some embodiments, the biasing element may be made of spring steel in the range of 0.02 - 0.03 inches thick × 3 mm high. Alternatively, they may be made of other metals including stainless steel, aluminum, nickel, copper, zinc, tin, and alloys (including brass, nickel-chrome alloys, etc.). Various types of springs may be used, such as compression springs, extension springs (e.g., attached on one side of the side surface of a cartridge including an opening), torsion springs (e.g., a torsion spring housed within a support body). Alternatively, the spring and the biasing element may be made of a flexible plastic material such as natural or synthetic rubber, PET (polyethylene terephthalate), HDPE (high density polyethylene), PVC (polyvinyl chloride), PP (polypropylene), or PS (polystyrene).

[0075] Figures 17A, 17B, 17C, 17D, and 17E illustrate a cartridge 200A that includes a cartridge body 201, a side surface 278, and a window 286. The side surface 278 includes an access opening 203 that provides access to an arm and tool channel 202. The arm and tool channel 202 is configured to receive the distal end 49 of a robotic arm 42 through the access opening 203. The window 286 enables visual observation within the cartridge 200A and provides a view of a tool 220 within the cartridge 200A when the tool 220 is present. A movable cartridge lever 250 forms a part of the side surface 278. The cartridge lever 250 rotates about a rotation axis between an open position and a closed position. The cartridge lever 250 includes a lever grip 251 and a channel cover 252. Refer to Figures 17A - 17E for the channel cover 252. The cartridge 200A also optionally facilitates being held by a user's hand to enable one-handed operation of the cartridge lever 250 so that a user can press the cartridge lever 250 with one hand, and includes cartridge body grips 271A, 271B for the user. In the closed position, the user can grip either the cartridge body grip 271A or alternatively the lever grip 251, while in the open position of the cartridge lever 250 (Figures 18A - 18E), the lever grip 251 may be positioned substantially in line with or above the cartridge body grip 271A such that the user can grip the lever grip 251 with substantially the same gesture as the cartridge body grip 271A.

[0076] Figures 18A, 18B, 18C, 18D, and 18E illustrate the cartridge 200A having the cartridge lever 250 in the open position. The cartridge lever 250 may be moved to the open position by pressing the lever grip 251. When the lever grip 251 is pressed, the cartridge lever 250 moves such that the channel cover 252 moves away from the arm and tool channel 202 and pivots to allow access to the arm and tool channel 202. With the cartridge lever 250 in the open position, the distal end 48 of the robotic arm 42 may be positioned within the arm and tool channel 202 to access the tool 220. As shown in FIGS. 18A-18E, when the cartridge lever 250 is in the open position, the lever grip 251 shifts toward the cartridge body grip 271A.

[0077] FIG. 19 shows a cross-section of the cartridge 200A with the cartridge lever 250 in the closed position and shows the tool 220 held within the holder 205 by biasing elements 210A and 210B that engage the tool 220. The cartridge body 201 also includes an access channel 291. FIG. 20 shows details of the biasing elements 210A, 210B.

[0078] FIG. 21A illustrates a cross-section of a cartridge 200A having a cartridge body 201 and a cartridge lever 250 in an open position to enable access to the arm and tool channel 202 of the cartridge 200A. The cartridge body 201 is also shown in FIGS. 21A and 21B of 200A. The cartridge 200A includes a window 286 that enables a view inside the cartridge 200A showing a tool 220. The cartridge lever 250 includes a lever grip 251 and a channel cover 252. When the grip 251 is pushed in FIG. 21A, the cartridge lever 250 pivots on a pivot point 290 and moves the channel cover 252 away from the arm and tool channel 202, enabling access to the arm and tool channel 202 by the distal end 49 of the robot arm 42. The distal end 49 of the robot arm 42 can engage with the tool 200A.

[0079] FIG. 21B illustrates a cross-section of the cartridge 200A with the cartridge body 201 and the cartridge lever 250 in the closed position to prevent access to the arm and the tool channel 202 of the cartridge 200A. The cartridge 200A includes a window 286 that enables a view inside the cartridge 200A showing the tool 220. The cartridge lever 250 includes a lever grip 251 and a channel cover 252. When the grip 251 in FIG. 21B is released, the cartridge lever 250 pivots back on the pivot point 290, moving the channel cover 252 away from the arm and the tool channel 202 and covering the arm and the tool channel 202 by the distal end 49 of the robot arm 42. The cartridge lever 250 includes a curved portion 253 that mates with the arm 42. The engagement between the curved portion 253 and the arm 42 facilitates mating of the cartridge 200A with the arm 42 such that the distal end 49 of the arm 42 can engage with the tool 220. The interaction between the curved portion 253 and the distal end 49 when the cartridge lever 250 is in the closed position may provide the user with information about the engagement between the arm 42 and the cartridge 200A. Closing the cartridge lever 250 over the distal portion 49 provides confirmation that the distal portion 49 is fully inserted into the cartridge 200A when the distal portion 49 intersects the curved portion 243. Alternatively, if the cartridge lever 250 does not close over the distal portion 49, this provides the user with an indication that the distal portion 49 is not properly seated or that the cartridge 200A is otherwise blocked. The user can also use the act of closing the cartridge lever 250 to facilitate seating the cartridge 200A on the arm 42 by using the force of the cartridge lever 250 to help seat the cartridge 200A on the arm 42. Further, FIGS. 21A - 21D42 are positioned in a V-shaped configuration, i.e., a configuration where segments of the arm 42 form a V-shaped arrangement having a portion of the arm 42 that engages along one of the access channels 2291A, 291B and is disposed generally in the same plane as the distal end 49.

[0080] FIG. 21C illustrates a cross-section of the cartridge 200A having the cartridge body 201 and the cartridge lever 250 in the open position to enable access to the arm of the cartridge 200A and the tool channel 202. When the FIG. 21C grip 251 is pushed, the cartridge lever 250 pivots again on the pivot point 290, moves the channel cover 252 away from the arm and the tool channel 202, and enables the robot arm 42 to be withdrawn from the arm and the tool channel 202 and hold the tool 220.

[0081] FIG. 21D shows a cross-section of the cartridge 200A having the cartridge body 201 and the cartridge lever 250 in the open position to enable access to the arm of the cartridge 200A and the tool channel 202 while the robot arm 42 continues to be withdrawn from the arm and the tool channel 2200A2 and holds the tool 220.

[0082] Figures 22A, 22B, 22C, and 22D illustrate access channels 291A, 291B to facilitate access to the arm and tool channel 200B2. The cartridge 200B includes a holder 300 having first internal tabs 3015A - 15B303A305A and arm and tool channels 2303B305B for holding the tool 220. In the cartridge 200B, two holder portions 203A and 303B are positioned within a holder channel 304 that extends generally perpendicular to the arm and tool channel 202. A first housing segment 302A and a second housing segment 302B are positioned within the housing 201 in the holder channel 304. In some embodiments, a large spring may be positioned between the first housing segment 303B2A and the first holder portions 3303A, 303B to support the holder portion 302A0. Small springs may be positioned between the first internal tab 305A and the first holder portion 303A and between the second internal tab 305B and the second holder portion 303B. Pins (not shown) are fixed within the cartridge body 201 and pass through slots in the first holder portion 303A and the first internal tab 305A and between the second holder portion 303B and the second internal tab 305B, thus restricting the movement of both sets of components. The access channels 291A, 291B allow access from both sides of the cartridge body 201, as shown by the robot arm 42 in FIGS. 200B, 21A, and 21B. The cartridge 200B includes an access opening 203A having a notched shape to provide access and to facilitate directing and seating the arm 42 within the arm and tool channel 202.

[0083] Figures 23A, 23B, and 23C each show details of the holder sections 303, 303A, 303B. The first internal tab 305A and the second internal tab 305B are pushed into a receiving mechanism within the tool 220 to hold the tool 220 in place. The first holder portion 303A and the second holder portion 303B restrain the tool 220 on the top and bottom of the tool 220 and assist in maintaining the tool 220 in a predetermined position. The tool 220 has a robot arm 32 inserted, engaged with the tool 220, and then the first internal tab 305A and the second internal tab 305B are removed from the disengaging 305B.

[0084] Figures 24A - 28 each show a detailed view including the holder 205 having the tool 220 as the robot arm 42 approaches, then engages with, and finally withdraws the tool 220 as described below. In the holder 205, the tool 220 is captured by using a protrusion 216 within the holder 205 that may be a cylindrical protrusion that engages with a groove 217 within the tool 220 (when the tool 220 is open approximately 180 degrees, as shown in FIGS. 25D, 26D, the tool 220 may be locked to the holder 205 via the engagement of the protrusion 216 and the groove 217. When the tool 220 is actuated, the groove 217 and the protrusion 216 may be disengaged to allow removal of the tool 220 from the holder 205. Further, the features / grooves on the holder 205 are shown in FIGS. 26D, 28.

[0085] Figures 24A, 24B, and 24C each illustrate the spring 208 and the holder 205 holding the tool 220 as the distal end 49 of the robot arm 42 approaches the tool 220. FIG. 24A shows a first side view of the holder 205 having the spring 208 and the tool 220, as well as a first side view of the distal portion 49 of the robot arm 42. FIG. 24B is a front view. FIG. 24C shows a side view from the opposite side.

[0086] Figures 25A, 25B, 25C, and 25D illustrate a holder 205 that holds a spring 208 and a tool 220 when a distal end 49 of a robotic arm 42 engages the tool 220. FIG. 25A shows a first side view of the holder 205 having the spring 208 and the tool 220, as well as a first side view of a distal portion 49 of the robotic arm 42. FIG. 25B is a front view. FIG. 25C shows an opposite side view. FIG. 25D is FIG. 25C.

[0087] Figures 26A, 26B, 26C, and 26D illustrate a holder 205 that holds a spring 208 and a tool 220 when a distal end 49 of a robotic arm 42 engages the tool 220 and operates the tool 220. FIG. 26A shows a first side view of the holder 205 having the spring 208 and the tool 220, as well as a first side view of a distal portion 49 of the robotic arm 42. FIG. 26B is a front view. FIG. 26C shows an opposite side view. FIG. 26D is FIG. 25C.

[0088] Figures 27A, 27B, 27C, and 28 illustrate the spring 208 and the holder 205 when a distal end 49 of the robotic arm 42 pulls the tool 220 out of the holder 205. FIG. 27A shows a first side view of the holder 205 having the spring 208 and the tool 220, as well as a first side view of a distal portion 49 of the robotic arm 42. FIG. 27B is a front view. FIG. 27C shows an opposite side view. FIG. 28 shows a perspective view of the spring 208 and the holder 205 when the distal end 49 of the robotic arm 42 pulls the tool 220 out of the holder 205.

[0089] RFID Engagement Sensing In some embodiments, the RFID chip or tag 279 of the cartridge 200 may include or store information regarding tool elements (e.g., tool elements 220, 220A, 220B) stored within the cartridge. The information may include any or all of information identifying the tool element (e.g., type, model number, etc.), information regarding the expiration date of the tool element, a serial number associated with the tool element, or other useful information. In some embodiments, when an RFID reader receives information from an RFID chip or tag regarding a tool element, the control system of the robotic arm may store the received information regarding the tool element currently attached to the robotic arm and / or store an identification of the tool element currently attached to the robotic arm based on the received information.

[0090] In some embodiments, after a first set of tool elements is removed from the robotic arm and the distal end of the robotic arm is inserted into a second cartridge holding a different second tool element, second information is received by the RFID reader of the robotic arm from the RFID chip or tag of the second cartridge regarding the different second tool element stored in the second cartridge. In some embodiments, the control system for the robotic arm may store the received second information regarding the second tool element currently attached to the robotic arm. In response to the receipt of the second information, the control system may overwrite the identification of the previous tool element currently attached to the robotic arm with the identification of the second tool element currently attached to the robotic arm based on the received second information.

[0091] In some embodiments, the interaction between the RFID chip or tag of the cartridge and the RFID reader at the distal end of the robotic arm can also be used to determine the proximity of a particular location on the distal end of the robotic arm (e.g., the location of the RFID reader) to a desired corresponding location inside the cartridge (e.g., the location of the RFID tag or chip when the distal end of the robotic arm engages the tool element).

[0092] The present disclosure also targets a cartridge that enables identification of the presence at the distal end of a robotic arm using radio frequency identification (RFID) sensing, for example, to confirm that an arm is engaged with a surgical tool within the cartridge. RFID sensing may also be used to provide information regarding tools stored within the cartridge. The RFID reader of the robotic arm and the tag or chip of the cartridge can be used as a proximity sensor based on whether the RFID reader can read the tag data. Some devices and methods significantly improve the ability of the RFID reader of the robotic arm to use the presence or absence of an RFID tag within the cartridge as an accurate position indicator while enabling proximity identification while the cartridge is battery-free and relatively simple.

[0093] Several factors, including RFID tags, reader antennas, and variations in surrounding interference-inducing materials and geometries, affect the reading range of RFID sensors. Whether the RFID sensor at the distal end of the robotic arm can read or detect the RFID tag within the cartridge may not be an accurate indication of the position of the robotic arm relative to the desired position within the cartridge. The present disclosure provides devices and methods for achieving effective use of RFID readers and tags for proximity identification in relation to cartridges for surgical tools. In some embodiments, the devices and methods disclosed herein also feature RFID blocking flags and mechanical linkage mechanisms to enable the use of RFID reading and tags for proximity identification. For example, in some embodiments, the cartridge includes an RFID blocking flag that interferes with signal transmission between the RFID reader and the RFID tag until the RFID blocking flag is repositioned when the robotic arm is correctly positioned within the cartridge.

[0094] FIG. 29 illustrates a portion of the internal features of the cartridge 200 where the holder 501 is mounted on the spring 502 and the spring 502 is mounted on the opposite end of the inner wall 504 of the cartridge body 201. As shown in FIG. 29, the distal end of the arm 550 is inserted within the cartridge 200. The distal end of the arm 550 features an RFID antenna 552. The characteristics of the RFID reader / tag system are such that when the RFID tag is positioned within the cartridge 200, the RFID antenna 552 can register the cartridge 200 as being in proximity to the RFID antenna 552 even when the proximal end of the robotic arm is not positioned directly at the desired location within the cartridge 200, for example, where the proximal end engages the tool and shifts the holder 501.

[0095] Some embodiments include means for blocking and unblocking an RFID tag 503 when the distal end 49 of the robotic arm 42 is inserted into the cartridge 200. Specifically, the RFID tag 503 can be unblocked when the distal end 49 is inserted into the cartridge 200 and seated adjacent to or collides with the tool 220 within the holder 501. The blocking / unblocking of the RFID tag 503 may enable the RFID reader 552 at the distal end 49 of the robotic arm 42 to read the RFID tag 503 when the distal end 49 of the robotic arm 42 is inserted and engaged with the unblocking means of the RFID tag 503. As a result, the ability of the RFID reader 552 to recognize and read the presence of the RFID tag 503 also indicates that the distal end 49 is inserted and preferably fully inserted / engaged with the holder 501. Alternatively, a failure of the RFID reader 552 to recognize the RFID tag 503 may be used to initiate a prompt for the user that the distal end holder cartridge 200 is not properly engaged. The means for blocking and unblocking the RFID tag 503 may be mechanical means. In some embodiments, the present disclosure provides an RFID blocking flag that can be positioned within the cartridge 200 between the RFID tag 503 attached on or within the cartridge 200 and the position where the RFID reader 552 at the distal end 49 of the robotic arm 42 is located when the distal end 49 of the robotic arm 42 is inserted into the cartridge 200. The RFID blocking flag 510 positioned at this blocking position blocks or reduces the signal that the RFID passes through or passes from the RFID tag. The cartridge can be configured to reposition the blocking flag from the blocking position, for example, when the holder of the cartridge is retracted after the application of force from the robotic arm. For example, this retraction of the holder may occur during step 804 of method 800 described above.

[0096] Embodiments of a portion of a cartridge featuring an RFID blocking flag and an assembly are shown in FIGS. 18 and 19. In FIG. 30, the cartridge 200 includes an RFID tag 503 mounted within the cartridge 200, which is an RFID blocking flag 510 in the blocking position and is covered / blocked by the RFID blocking flag 510. The RFID blocking flag 510 is formed of a material that blocks or reduces the transmission of RFID signals through the RFID blocking flag 510. When the RFID blocking flag is in the blocking position, the RFID blocking flag 510 blocks signals to or from the RFID tag 503. In some embodiments, the RFID blocking flag 510 is connected to the cartridge by a first fixed pivot 513 about which the RFID blocking flag 510 can rotate. Further, in some embodiments, the RFID blocking flag 510 is connected to a link mechanism bar 512 via a first axis 515. The first axis 515 is connected to the first link mechanism bar 512 at a first end of the first link mechanism bar 512. At the second end, the first link mechanism bar 512 is connected to a second link mechanism bar 511 via a second axis 516. Further, the first link mechanism bar 512 may pivot about a pivot point 517. The first axis 515 and the second axis 516 allow the RFID blocking flag 510, the first link mechanism bar 512, and the second link mechanism bar 511 to rotate relative to each other. The second link mechanism bar 511 has a first end connected to the first link mechanism bar 512 via the second axis 516 and a second end opposite the first end positioned to be collided with and displaced by a protruding tab 520 of the holder 501 when the holder 501 is shifted.

[0097] Furthermore, the second link mechanism bar 511 features a fixed pivot point 514 around which the second link mechanism bar 511 can rotate. When the holder 501 moves near the inner wall 504 of the cartridge body 201 and the spring 502 is compressed, the protruding tab 518 is pressed against the second end of the link mechanism bar 511, causing the second link mechanism bar 511 to rotate around the pivot portion 514, and then causing the second link mechanism bar 511 to apply a force to the first link mechanism bar 512 via the second shaft 516. Next, the first link mechanism bar 512 is pivoted around the fixed pivot 517, and then a force is applied to the RFID blocking flag 510 via the first shaft 515, and the RFID blocking flag 510 is pivoted around the fixed pivot 513, shifting the RFID blocking flag 510 from the blocking position to a second position away from the RFID tag 503. A method comprising the above steps. FIG. 31 shows the second position of the RFID blocking flag 510.

[0098] As shown in FIG. 31, when the RFID blocking flag 510 shifts from its initial blocking position on the RFID tag 503, the RFID tag 503 is no longer blocked, and the RFID antenna 552 can register the presence of the RFID tag 503. As a result, the movement of the RFID blocking flag 510 causes the RFID tag 503 to be registered by the RFID antenna 552, thereby enabling the system to recognize that the distal end 49 of the robotic arm 42 is positioned in such a way as to move the RFID blocking flag 510. Those skilled in the art will understand that alternative arrangements of mechanical link mechanisms can be used to achieve the result of displacing the RFID blocking flag, including different positions of the link mechanism or the use of alternative mechanical structures.

[0099] Preferred embodiments of the present invention have been shown and described herein, but it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Here, numerous variations, modifications, and substitutions will occur to those skilled in the art without departing from the present invention. It can be understood that various alternatives to the embodiments of the present invention described herein may be used. The following claims define the scope of the present invention, and it is intended that methods and structures within these claims, as well as their equivalents, be covered thereby.

Claims

**Claim 1** A cartridge for securing one or more tool elements of a surgical tool and releasing the tool elements when engaged by a distal end of a robotic arm, the cartridge comprising: A cartridge body defining a tool holding cavity, a holder channel, an arm and tool channel, and an access opening, the arm and tool channel extending from the tool holding cavity to the opening on a first side of the cartridge body and configured to receive a distal end of a robotic arm; A holder within the tool holding cavity and configured to removably secure the one or more tool elements. **Claim 2** The holder of claim 1, wherein the holder comprises: A cradle portion configured to engage at least a portion of one or more tool elements; An end portion opposite the cradle portion and extending into the holder channel; A biasing member disposed within the holder channel, the biasing member having a first end connected to the end portion of the holder and a second end connected to the cartridge body, and configured to allow movement of the holder relative to the cartridge body with compression or extension of the biasing member. **Claim 3** The cartridge of claim 2, further comprising a pair of biasing elements, each biasing element including a retaining mechanism disposed at a proximal end of the biasing element, each biasing element being fixed to the cartridge body at a distal end, and each retaining mechanism being configured to engage a corresponding receiving mechanism within a tool element body of a corresponding tool element. **Claim 4** The cartridge of claim 3, wherein the holder defines a pair of biasing element channels, each of the pair of biasing elements extending through a corresponding one of the biasing element channels, the biasing element channels being configured to allow movement of the holder along a central axis of the holder channel relative to the pair of biasing elements while restricting lateral deflection of a portion of the biasing element located within the biasing element channel. **Claim 5** The pair of biasing element channels are configured to hold the proximal end of the biasing element in a first position when the spring is in the extended position and to allow the proximal end of the biasing element to bend outward when the spring is in the compressed position, the cartridge of claim 4. **Claim 6** The cartridge of claim 2, further comprising a cartridge lever at least partially formed on an outer side of the cartridge and movable between a closed position and an open position. **Claim 7** The cartridge of claim 6, wherein when the cartridge lever is in the closed position, the cartridge lever substantially blocks access to the cavity of the cartridge body. **Claim 8** The cartridge of claim 6, wherein the cartridge lever comprises a channel cover for covering the arm and the tool channel when the cartridge lever is in the closed position. **Claim 9** The cartridge of claim 6, wherein the cartridge lever comprises a lever grip operable to move the cartridge lever between the closed position and the open position. **Claim 10** The cartridge of claim 3, further comprising one or more access channels for guiding the distal end of the robotic arm to the arm and the tool channel. **Claim 11** The cartridge of claim 1, further comprising an RFID tag. **Claim 12** The cartridge comprises an RFID blocking flag movable between a blocking position and a non-blocking position, and at least one mechanical linkage connected to the RFID blocking flag and configured to shift the RFID blocking flag between the blocking position and the non-blocking position, the cartridge of claim 11. **Claim 13** The cartridge of claim 1, wherein the holder comprises a protrusion configured to engage a groove in the tool. **Claim 14** The cartridge of claim 13, wherein the protrusion is a cylindrical protrusion. **Claim 15** A surgical robotic system comprising the cartridge of claim 1, and a robotic arm having a distal end configured to hold a surgical tool, a surgical robotic system. **Claim 16** The surgical robotic system of claim 15, wherein the cartridge comprises an RFID tag and the robotic arm comprises an RFID reader.

17. A method for providing a surgical tool to a surgical robot system, comprising: providing a cartridge for holding the surgical tool therein; inserting a distal end of a robot arm of the surgical robot system into the cartridge; engaging the surgical tool using the distal end of the robot arm; releasing the surgical tool from the holder; and pulling the surgical tool out of the cartridge.

18. The method according to claim 17, wherein releasing the surgical tool from the holder includes actuating a tool element of the surgical tool to bend a holding mechanism of the biasing element of the holder of the cartridge away from a corresponding receiving mechanism within the surgical tool.

19. The method according to claim 17, wherein pulling the surgical tool out includes rotating or closing the surgical tool via the robot arm to release the surgical tool from the holder of the cartridge.

20. The method according to claim 17, further comprising pivoting a cartridge lever of the cartridge to enable access to the cartridge by the robot arm.

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