Lock caster for a surgical system with sensing

Abstract

The present disclosure provides a caster assembly including a caster wheel, a locking member, a pedal, and a position sensor. The locking member can engage with the caster wheel. Movement of the pedal toward the depressed position can cause engagement of the locking member with the caster wheel to resist or prevent rotation of the caster wheel. Movement of the pedal toward the released position can disengage the locking member from the caster wheel to enable rotation of the caster wheel. The position sensor can detect the position of the pedal.

Description

Technical Field

[0001] The systems and methods disclosed herein relate to surgical systems, and more particularly, to systems for transporting surgical systems.

Background Art

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

Brief Description of the Drawings

[0003] The disclosed aspects are described below in conjunction with the accompanying drawings, which illustrate, but do not limit, the disclosed aspects, and like reference numerals refer to like elements.

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DETAILED DESCRIPTION OF THE INVENTION

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

[0005] In addition to performing a wide range of procedures, the system may provide additional benefits such as enhanced imaging and guidance to assist the physician. Further, the system may provide the physician with the ability to perform procedures from an ergonomic position without requiring awkward arm movements and positioning. Still further, the system may provide the physician with the ability to perform procedures with improved ease of use such that one or more of the instruments of the system can be controlled by the user alone.

[0006] The following, for purposes of illustration, in conjunction with the drawings, various embodiments will be described. It should be understood that many other implementations of the concepts of the present disclosure are possible and that various advantages can be achieved by the implementations of the present disclosure. This specification includes headings for reference and to assist in identifying the positions of various sections. These headings do not limit the scope of the concepts described therein. Such concepts can be applied throughout this specification.

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

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

[0009] The endoscope 13 can be directed downstream into the patient's trachea and lungs after insertion using precise commands from the robotic system until it reaches the target destination or surgical site. To enhance navigation through the patient's pulmonary network and / or reach the desired target, the endoscope 13 can be operated to telescopically extend the inner leader portion from the outer sheath portion and to enhance articulation and increase the bending radius. The use of separate instrument drivers 28 also allows the leader portion and the sheath portion to be driven independently of each other.

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

[0011] The system 10 can also include a movable tower 30 connected to the cart 11 via a support cable to provide support for control, electronics, fluidics, optics, sensors, and / or power to the cart 11. By placing such functions on the tower 30, the form factor of the cart 11 can be reduced, and the surgeon and their staff performing the surgery can more easily adjust and / or reposition the cart 11. Further, the functional separation of the cart / table and the support tower 30 reduces clutter in the operating room and facilitates improvement of the clinical workflow. The cart 11 can be positioned near the patient, while the tower 30 can be housed in a remote location so as not to be in the way during the procedure.

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

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

[0014] Tower 30 may include voltage and surge protection devices designed to provide filtered, protected power to cart 11, thereby avoiding the placement of a power transformer and other auxiliary power components within cart 11 and making cart 11 smaller and more mobile.

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

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

[0017] Tower 30 can be coupled to cart 11 and endoscope 13 via one or more cables or connections (not shown). In some embodiments, the support function from tower 30 can be provided to cart 11 through only one cable, simplifying and organizing the operating room. In other embodiments, specific functions can be coupled in separate wirings and connections. For example, power can be supplied to the cart through only one power cable, while support for the control device, optics, fluid elements, and / or navigation can be provided through separate cables.

[0018] FIG. 2 provides a detailed view of one embodiment of a cart from the cart-based robotic-enabled system shown in FIG. 1. Cart 11 generally includes an elongated support structure 14 (often referred to as a “column”), a cart base 15, and a console 16 at the top of column 14. Column 14 can include one or more carriages, such as a carriage 17 (alternatively an “arm support”) for supporting the deployment of one or more robotic arms 12 (three are shown in FIG. 2). Carriage 17 can include individually configurable arm mounts that rotate along orthogonal axes to adjust the base of robotic arm 12 for better positioning relative to the patient. Carriage 17 also includes a carriage interface 19 that allows carriage 17 to translate vertically along column 14.

[0019] The carriage interface 19 is connected to the column 14 through slots such as slot 20 positioned on both sides of the column 14 to guide the vertical translation of the carriage 17. The slot 20 contains a vertical translation interface for positioning and holding the carriage at various vertical heights relative to the cart base 15. Due to the vertical translation of the carriage 17, the cart 11 can adjust the reach of the robotic arm 12 to meet various table heights, patient sizes, and doctor preferences. Similarly, the individually configurable arm mounts on the carriage 17 enable the robotic arm base 21 of the robotic arm 12 to be angled in various configurations.

[0020] In some embodiments, a slot cover that is coplanar and parallel to the slot surface can be added to the slot 20 to prevent dirt and fluid from entering the internal chamber of the column 14 and the vertical translation interface when the carriage 17 translates vertically. The slot cover can be deployed through a pair of spring spools positioned near the vertical top and bottom of the slot 20. The cover is coiled within the spool such that it extends and retracts from a coiled state as the carriage 17 translates vertically up and down. The spring mechanism of the spool provides a force to retract the cover towards the spool when the carriage 17 translates towards the spool, while maintaining the seal when the carriage 17 translates away from the spool. The cover can be connected to the carriage 17, for example, using brackets on the carriage interface 19, to ensure that the cover extends and retracts properly as the carriage 17 translates.

[0021] The column 14 can contain internal mechanisms such as gears and motors, designed to use a lead screw aligned vertically to mechanically translate the carriage 17 in response to a control signal generated in response to a user input, such as an input from the console 16.

[0022] The robotic arm 12 can generally include a robotic arm base 21 and an end effector 22 separated by a series of link mechanisms 23 connected by a series of joints 24. Each joint includes an independent actuator, and each actuator includes a separately controllable motor. The separately controllable joints indicate the independent degrees of freedom available to the robotic arm. Each of the arms 12 has seven joints, resulting in seven degrees of freedom. The multiple joints provide multiple degrees of freedom, enabling "redundant" degrees of freedom. The redundant degrees of freedom allow the robotic arm 12 to position its respective end effector 22 at a specific position, orientation, and trajectory in space using different link mechanism positions and joint angles. This enables the system to position and orient a medical instrument from a desired point in space, while allowing the physician to move the arm joints to a clinically advantageous position away from the patient, causing greater access while avoiding arm collisions.

[0023] The cart base 15 balances the weight of the column 14, carriage 17, and arm 12 on the floor. Thus, the cart base 15 houses heavier components such as components that enable either movement and / or immobilization of the cart, along with electronics, motors, and power supplies. For example, the cart base 15 includes rollable wheel-shaped casters 25 that allow the cart to be easily moved around the room prior to the procedure. After reaching the appropriate position, the casters 25 can be made immovable using wheel locks to hold the cart 11 in place during the procedure.

[0024] The console 16 positioned at the vertical end of column 14 enables both a user interface for receiving user input and a display screen (or a dual-purpose device such as a touch screen 26, for example), providing both preoperative data and intraoperative data to the user, who is a doctor. Potential preoperative data on the touch screen 26 may include preoperative plans, navigation and mapping data derived from preoperative computed tomography (CT) scans, and / or notes from preoperative patient interviews. Intraoperative data on the display may also include essential patient statistics such as respiration, heart rate, and / or pulse, along with optical information provided by tools, sensor information from sensors, and coordinate information. The console 16 can be positioned and tilted so that the doctor can access the console from the side of column 14 opposite the carriage 17. From this position, the doctor can view the console 16, the robotic arm 12, and the patient while operating the console 16 from behind the cart 11. As shown, the console 16 also includes a handle 27 that helps operate and stabilize the cart 11.

[0025] Figure 3 shows an embodiment of a robot-compatible system 10 arranged for ureteroscopy. In a ureteroscopy procedure, the cart 11 can be positioned to deliver a ureteroscope 32, which is a procedure-specific endoscope designed to follow the patient's urethra and ureter, to the patient's lower abdominal region. In ureteroscopy, it may be desirable for the ureteroscope 32 to be directly aligned with the patient's urethra to reduce friction and force on sensitive anatomical structures within its range. As shown, the cart 11 can be aligned at the table leg so that the robotic arm 12 can position the ureteroscope 32 to have direct linear access to the patient's urethra. From the table leg, the robotic arm 12 can insert the ureteroscope 32 directly into the patient's lower abdomen through the urethra along a virtual rail 33.

[0026] After being inserted into the urethra using control techniques similar to those in bronchoscopy, the ureteroscope 32 can be navigated to the bladder, ureter, and / or kidney for diagnostic and / or therapeutic purposes. For example, the ureteroscope 32 can be directed into the ureter and kidney, and a laser lithotripsy device or an ultrasonic lithotripsy device disposed downstream of the working channel of the ureteroscope 32 can be used to crush the formed kidney stones. After the lithotripsy is completed, a basket deployed downstream of the ureteroscope 32 can be used to remove the resulting stone fragments.

[0027] FIG. 4 shows an embodiment of a robot-compatible system similarly arranged for vascular procedures. In a vascular procedure, the system 10 can be configured such that the cart 11 can deliver a medical instrument 34, such as a steerable catheter, to an access point in the femoral artery in the patient's leg. The femoral artery presents both a larger diameter for navigation and a relatively less tortuous path with fewer detours to the patient's heart, thereby facilitating navigation. As seen in ureteroscopy procedures, the cart 11 can be positioned towards the patient's leg and lower abdomen such that the robotic arm 12 provides direct linear access to the femoral artery access point in the patient's thigh / lumbar region to a virtual rail 35. After insertion into the artery, the medical instrument 34 can be directed and inserted by translating the instrument driver 28. Alternatively, the cart can be positioned around the patient's upper abdomen to reach alternative vascular access points, such as the carotid artery and brachial artery near the shoulder and wrist, for example.

[0028] B. Robot System - Table. Embodiments of a robot-compatible medical system may also incorporate a patient table. Incorporating the table reduces the amount of capital equipment in the operating room by removing the cart and enables better access to the patient. FIG. 5 illustrates an embodiment of such a robot-compatible system arranged for a bronchoscopy procedure. System 36 includes a support structure or column 37 for supporting a platform 38 (illustrated as a “table” or “bed”) across the floor. Similar to a cart-based system, the end effector of the robotic arm 39 of system 36 includes an instrument driver 42 designed to manipulate an elongate medical instrument, such as bronchoscope 40 of FIG. 5, through or along a virtual rail 41 formed from the linear alignment of the instrument driver 42. In practice, a C-arm for providing fluoroscopic imaging can be positioned across the patient's upper abdominal region by placing the emitter and detector around the table 38.

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

[0030] The arm 39 can be mounted to the carriage via a set of arm mounts 45 that include a series of joints that can rotate individually and / or extend telescopically to provide additional configurability to the robotic arm 39. Further, the arm mounts 45 can be positioned on the carriage 43, and when the carriage 43 rotates appropriately, the arm mounts 45 can be positioned on the same side of the table 38 (as shown in FIG. 6), on both sides of the table 38 (as shown in FIG. 9), or on adjacent sides of the table 38 (not shown).

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

[0032] The table base 46 serves a similar function to the cart base 15 of the cart 11 shown in FIG. 2 and houses heavier components to balance the table / bed 38, column 37, carriage 43, and robotic arm 39. The table base 46 can also incorporate rigid casters to provide stability during treatment. The casters that deploy from the bottom of the table base 46 extend in opposite directions on both sides of the base 46 and can retract when it is necessary to move the system 36.

[0033] Continuing with reference to FIG. 6, system 36 may also include a tower (not shown) that divides the functionality of system 36 between the table and the tower to reduce the form factor and bulk of the table. As seen in the previously disclosed embodiments, the tower may provide various support functions such as processing power, computing power, and control power, electricity, fluid elements, and / or optical and sensor processing to the table. The tower may also be movable to be positioned away from the patient to improve physician access and to organize the operating room. Further, by placing components in the tower, it is possible to expand the storage space in the table base for possible accommodation of robotic arms. The tower may also include a master controller or console that provides both a user interface for user input such as a keyboard and / or pendant, and a display screen (or touch screen) for preoperative and intraoperative information such as real-time imaging, navigation, and tracking information. In some embodiments, the tower may also include a holder for a gas tank used for ventilation.

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

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

[0036] In laparoscopy, minimally invasive instruments can be inserted into a patient's anatomical structure through small incisions in the patient's abdominal wall. In some embodiments, the minimally invasive instruments include elongated rigid members such as shafts used to access anatomical structures within the patient. After inflation of the patient's abdomen, the instruments can be oriented to perform surgical or medical tasks such as grasping, cutting, ablation, suturing, etc. In some embodiments, the instruments can include a scope such as a laparoscope. FIG. 9 shows an embodiment of a robot-compatible table-based system configured for laparoscopy procedures. As shown in FIG. 9, a pair of robot arms 39 are positioned on either side of table 38 such that carriage 43 of system 36 can be rotated and adjusted vertically using arm mount 45 to position the instruments 59 to reach the patient's abdomen through minimal incisions on either side of the patient.

[0037] To accommodate laparoscopic procedures, the robot-compatible table system may also tilt the platform to a desired angle. FIG. 10 shows one embodiment of a robot-compatible medical system having pitch or tilt adjustment. As shown in FIG. 10, system 36 adapts to the tilt of table 38 to position a portion of the table further from the floor than other portions. Further, arm mount 45 may rotate so that arm 39 aligns with the tilt such that it maintains the same planar relationship with table 38. To accommodate steep angles, column 37 may also include a nested portion 60 that allows for vertical extension of column 37 to prevent table 38 from contacting the floor or colliding with base 46.

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

[0039] For example, pitch adjustment is particularly useful when attempting to position the table in the Trendelenburg position, i.e., when attempting to position the patient's lower abdomen higher from the floor than the patient's upper abdomen for lower abdominal surgery. The Trendelenburg position slides the patient's internal organs upward into the patient's upper abdomen by gravity, emptying the abdominal cavity when performing lower abdominal surgical or medical procedures such as laparoscopic prostatectomy with minimally invasive tools.

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

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

[0042] The surgical robot system 100 of FIGS. 12 and 13 can include a table supported by a column 102 mounted to a base 103. The base 103 and column 102 support the table 101 relative to a support surface. Floor axis 131 and support axis 133 are shown in FIG. 13.

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

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

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

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

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

[0048] FIG. 15 illustrates an exemplary instrument driver. The instrument driver 62 positioned at the distal end of the robotic arm is composed of one or more drive units 63 arranged in parallel axes to provide controlled torque to the medical instrument via the drive shaft 64. Each drive unit 63 includes an individual drive shaft 64 for interacting with the instrument, a gear head 65 for converting motor shaft rotation into a desired torque, a motor 66 for generating the drive torque, an encoder 67 for measuring the rotational speed of the motor shaft and providing feedback to the control circuit, and a control circuit 68 for receiving control signals and operating the drive unit. Each drive unit 63 is controlled and electrified independently of the others, and the instrument driver 62 can provide multiple (shown as four in FIG. 15) independent drive outputs to the medical instrument. During operation, the control circuit 68 receives a control signal, transmits a motor signal to the motor 66, compares the motor speed obtained as a result measured by the encoder 67 with the desired speed, and modulates the motor signal to generate the desired torque.

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

[0050] D. Medical Instruments. FIG. 16 shows an exemplary medical instrument having a pair of instrument drivers. Like other instruments designed for use in a robotic system, medical instrument 70 includes an elongate shaft 71 (or elongate body) and an instrument base 72. The instrument base 72, also referred to as an “instrument handle” by virtue of its design which contemplates manual interaction by a physician, typically includes a rotary drive input 73 designed to mate with a drive output 74 that penetrates a drive interface on instrument driver 75 at the distal end of robotic arm 76. The drive input 73 can include, for example, a receptacle, pulley, or spool. When physically connected, latched, and / or coupled, the mating drive input 73 of instrument base 72 can share a rotational axis with drive output 74 at instrument driver 75 to enable transmission of torque from drive output 74 to drive input 73. In some embodiments, drive output 74 can include splines designed to mate with a receptacle on drive input 73.

[0051] The elongate shaft 71 is designed to be delivered through either an anatomical opening or lumen, such as in an endoscope, or a minimally invasive incision, such as in laparoscopy. The elongate shaft 71 can be either flexible (e.g., having properties similar to an endoscope) or rigid (e.g., having properties similar to a laparoscope), or can include a customized combination of both flexible and rigid portions. When designed for laparoscopy, the distal end of the rigid elongate shaft extends to an end effector formed from a knuckle having at least one degree of freedom and can be actuated based on a force from a tendon as it rotates in response to torque received from drive output 74 of instrument driver 75 and can be connected to a surgical tool or medical instrument, such as a gripper or forceps. When designed for endoscopy, the distal end of the flexible elongate shaft can include an articulable bend or controllable bend that can be jointed and bent based on torque received from drive output 74 of instrument driver 75.

[0052] The torque from the instrument driver 75 is transmitted downstream of the elongate shaft 71 using tendons along the shaft 71. These individual tendons, such as pull wires, can be individually fixed to the individual drive inputs 73 within the instrument handle 72. From the handle 72, the tendon travels through one or more pull lumens along the elongate shaft 71 and is fixed to the distal portion of the elongate shaft 71 or to a list at the distal portion of the elongate shaft. During a surgical procedure, such as a laparoscopic procedure, an endoscopic procedure, or a hybrid procedure, these tendons can be coupled to a distally mounted end effector such as a list, a grasping tool, or forceps. Under such an arrangement, the torque applied to the drive input 73 will cause the end effector to operate in some manner by transmitting tension to the tendon. In some embodiments, during a surgical procedure, the tendon can move the end effector in one direction or another by rotating the joint about an axis. Alternatively, the tendon can be connected to one or more jaws of the grasping tool at the distal end of the elongate shaft 71, and the grasping tool closes due to the tension from the tendon.

[0053] In an endoscopic examination, tendons can be coupled to a bending portion or articulating portion positioned along (e.g., at the distal end) an elongate shaft 71 via an adhesive, a control ring, or other mechanical fixation. When fixedly attached to the distal end of the bending portion, torque exerted on a drive input 73 is transmitted to the tendon, causing a more flexible bending portion (which may be referred to as an articulating portion or articulating region) to bend or articulate. Along the non-bending portion, it may be convenient to spiral or coil individual pull lumens that direct individual tendons along (or inside) the wall of the endoscopic shaft to balance the radial forces resulting from the tension in the pull wires. The angle of the spiral and / or the spacing between these can be varied or designed for a specific purpose. As the spiral becomes narrower, it exhibits inferior shaft compression under load forces, while reducing the number of spirals results in excellent shaft compression under load forces but also exhibits bending limits. At the other end of the spectrum, controlling the articulation in a desired bending or articulating portion can be enabled by directing the pull lumens parallel to the longitudinal axis of the elongate shaft 71.

[0054] In an endoscopic examination, the elongate shaft 71 houses several components to assist in robotic procedures. The elongate shaft can be composed of a surgical tool (or medical instrument), irrigation, and / or a working channel for disposing suction at the surgical area at the distal end of the shaft 71. The elongate shaft 71 can also house wires and / or optical fibers that transmit signals to / from an optical assembly at the distal tip, which may include an optical camera. The shaft 71 can also house an optical fiber for conveying light from a proximally located light source, such as a light-emitting diode, to the distal end of the shaft.

[0055] At the distal end of the instrument 70, the distal tip may include an opening of a working channel for delivering tools to the surgical site for diagnosis and / or treatment, irrigation, and aspiration. The distal tip may also include a port for a camera, such as a fiber optic scope or a digital camera, for capturing an image of the internal anatomical space. In this regard, the distal tip may also include a port for a light source for illuminating the anatomical space when using the camera.

[0056] In the example of FIG. 16, the drive shaft axis, and thus the drive input axis, is orthogonal to the axis of the elongate shaft. However, this arrangement complicates the rolling ability of the elongate shaft 71. As a result of rolling the elongate shaft 71 along its axis while keeping the drive input 73 stationary, as the tendon exits the drive input 73 and enters the pull lumen within the elongate shaft 71, it results in an undesirable entanglement of the tendon. Such tendon entanglement that results may interfere with any control algorithm aimed at predicting the movement of the flexible elongate shaft during an endoscopic procedure.

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

[0058] Similar to the previously disclosed embodiments, the instrument 86 may include an elongated shaft portion 88 and an instrument base 87 (shown with a transparent outer skin for illustrative purposes) that includes a plurality of drive inputs 89 (such as receptacles, pulleys, and spools) configured to receive the drive outputs 81 within the instrument driver 80. Different from the previously disclosed embodiments, the instrument shaft 88 extends from the center of the instrument base 87 with the axis being substantially parallel to the axis of the drive inputs 89 rather than orthogonal as seen in the design of FIG. 16.

[0059] When coupled to the rotating assembly 83 of the instrument driver 80, the medical instrument 86, which includes the instrument base 87 and the instrument shaft 88, rotates with the rotating assembly 83 about the instrument driver shaft 85. Since the instrument shaft 88 is positioned at the center of the instrument base 87, the instrument shaft 88 will be coaxial with the instrument driver shaft 85 when attached. Thus, rotation of the rotating assembly 83 causes the instrument shaft 88 to rotate about its longitudinal axis. Also, since the instrument base 87 rotates with the instrument shaft 88, any tendon connected to the drive input 89 on the instrument base 87 will not become entangled during rotation. Thus, the parallelism of the drive output 81, the drive input 89, and the axis of the instrument shaft 88 allows shaft rotation without entangling any control tendons.

[0060] FIG. 18 shows an instrument having an instrument base insertion architecture according to some embodiments. The instrument 150 can be coupled to any of the instrument drivers discussed above. The instrument 150 includes an elongate shaft 152, an end effector 162 connected to the elongate shaft 152, and a handle 170 coupled to the elongate shaft 152. The elongate shaft 152 includes a tubular member having a proximal portion 154 and a distal portion 156. The elongate shaft 152 includes one or more channels or grooves 158 along its outer surface. The grooves 158 are configured to receive one or more wires or cables 180. Thus, one or more cables 180 run along the outer surface of the elongate shaft 152. In other embodiments, the cables 180 can also run through the elongate shaft 152. Actuation of the end effector 162 is effected by skillful manipulation of one or more of the cables 180 (e.g., via an instrument driver).

[0061] The instrument handle 170, which may also be referred to as the instrument base, can include an attachment interface 172 having one or more mechanical inputs 174, such as receptacles, pulleys, or spools, that are designed to mate with one or more torque couplers on the attachment surface of the instrument driver.

[0062] In some embodiments, the instrument 150 includes a series of pulleys or cables that allow the elongate shaft 152 to translate relative to the handle 170. In other words, since the instrument 150 itself constitutes an instrument base insertion architecture that is adapted for the insertion of the instrument, the insertion of the instrument 150 is effected with minimal reliance on the robotic arm. In other embodiments, the robotic arm may primarily be responsible for the insertion of the instrument.

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

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

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

[0066] As shown in FIG. 19, each positioning platform 188 includes a SCARA arm (selective compliance assembly robot arm) 198 coupled to a column 194 by a linear joint 196. The linear joint 196 is configured to translate along the column 194 (e.g., along a rail 197) to enable each of the handles 184 to translate in the z-direction and provide a first degree of freedom. The SCARA arm 198 is configured to enable movement of the handle 184 in the x-y plane and provide two additional degrees of freedom.

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

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

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

[0070] As shown in FIG. 20, the location system 90 can include a location module 95 that processes input data 91-94 to generate location data 96 for the distal tip of a medical instrument. The location data 96 can be data or logic representing the location and / or orientation of the distal end of the instrument relative to a reference system. The reference system can be relative to the patient's anatomical structure or to a known object such as an EM field generator (see the following discussion regarding EM field generators).

[0071] Here, the various input data 91-94 will be described in more detail. Pre-operative imaging can be accomplished through the use of the collection of low-dose CT scans. The pre-operative CT scans are reconstructed, for example, into a three-dimensional image that is visualized as a “slice” of a cutaway view of the patient's internal anatomical structure. When analyzed as a whole, an image-based model of the anatomical cavities, anatomical spaces, and anatomical structures of the patient, such as the patient's pulmonary network, can be created. Techniques such as centerline shape can be determined from the CT images and approximated to create a three-dimensional volume of the patient's anatomical structure, referred to as model data 91 (also referred to as “pre-operative model data” if created using only the pre-operative CT scan). The use of centerline shape is discussed in U.S. Patent Application No. 14 / 523,760, the entire contents of which are incorporated herein by reference. A network phase model can also be derived from the CT images and is particularly suitable for bronchoscopy.

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

[0073] Other computer vision-based tracking techniques use feature tracking to determine the movement of the camera and thus the endoscope. Some features of the localization module 95 may identify circular geometric shapes corresponding to anatomical lumens in the preoperative model data 91, track changes in those geometric shapes, and ascertain which anatomical lumen has been selected, as well as the relative rotational and / or translational movement of the camera. The use of phase maps may further enhance vision-based algorithms or vision-based techniques.

[0074] Optical flow, another computer vision-based technique, may analyze the displacement and translation of image pixels within a video sequence in the visual data 92 to infer the movement of the camera. Examples of optical flow techniques may include motion detection, object segmentation calculation, luminance, motion-compensated coding, stereoscopic parallax measurement, and the like. By comparing multiple frames over multiple iterations, the movement and location of the camera (and thus the endoscope) may be determined.

[0075] The position-specific module 95 can generate the real-time position of the endoscope within a global coordinate system that can be registered to the patient's anatomical structure represented by the preoperative model using real-time EM tracking. In EM tracking, an EM sensor (or tracker) composed of one or more sensor coils embedded in a medical instrument (e.g., an endoscopic instrument) at one or more locations and orientations measures the variations in the EM field generated by one or more static EM field generators positioned at known locations. The location information detected by the EM sensor is stored as EM data 93. The EM field generator (or transmitter) can be placed near the patient to generate a low-intensity magnetic field that can be detected by the embedded sensors. The magnetic field induces a small current in the sensor coils of the EM sensor, which can be analyzed to determine the distance and angle between the EM sensor and the EM field generator. These distances and orientations can be "matched" to the patient's anatomical structure (e.g., the preoperative model) during the operation to confirm a geometric transformation that aligns only one location in the preoperative model of the patient's anatomical structure with a location in the coordinate system. Once matched, an EM tracker embedded at one or more positions of the medical instrument (e.g., the distal tip of the endoscope) can provide a real-time display of the progress of the medical instrument through the patient's anatomical structure.

[0076] The robot commands and kinematic data 94 can also be used by the position-specific module 95 to provide position-specific data 96 for the robotic system. During preoperative calibration, the device pitch and yaw resulting from the joint movement commands can be determined. During the operation, these calibration measurements can be used in combination with known insertion depth information to estimate the position of the instrument. Alternatively, these calculations can be analyzed in combination with EM, vision, and / or phase modeling to estimate the position of the medical instrument within the network.

[0077] As shown in FIG. 20, some other input data can be used by the localization module 95. For example, although not shown in FIG. 20, an instrument using shape-sensing fibers can provide shape data that can be used by the localization module 95 to confirm the location and shape of the instrument.

[0078] The localization module 95 can use a combination of the input data 91-94. In some cases, such a combination can use a probabilistic approach in which the localization module 95 assigns a confidence weight to the location determined from each of the input data 91-94. Thus, if the EM data is not reliable (such as in the case of EM interference), the reliability of the location confirmed by the EM data 93 may be reduced, and the localization module 95 may rely more strongly on the visual data 92 and / or the robot command and kinematic data 94.

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

[0080] 2. Transportation of the surgical system. Some embodiments of the present disclosure include systems related to a surgical system, and more specifically, include systems for transporting and fixing a surgical robotic system.

[0081] The console of a surgical robot system, such as a physician's interface console, can include casters that enable movement of the console. The casters can be swiveled to rotate the console or otherwise manipulated. In some applications, the swivel function of certain conventional casters can allow the caster wheels to swivel unintentionally during forward or backward movement.

[0082] After transporting the console, the casters of the console can be stopped or otherwise locked in place prior to a surgical procedure to prevent inadvertent movement of the console. For example, the casters may be stopped to prevent movement of the console while a surgeon is operating the human interface device (HID) of the console. In some applications, certain conventional consoles can lock only one caster wheel of the caster assembly. Further, in some applications, certain conventional consoles may not provide an indication when the casters are locked or unlocked.

[0083] The caster assembly disclosed herein can overcome one or more problems discovered with respect to certain conventional caster assemblies. For example, according to some embodiments disclosed herein, the inventors' analysis has led to the discovery of various implementations, deficiencies, and problematic features of prior art systems, some of which are presented herein, including the following implementations.

[0084] First, the present disclosure includes the realization that the unintentional turning of the caster wheels can prevent technicians from easily or safely moving the console forward or backward without the console drifting or wobbling laterally. Additionally, certain conventional consoles with non-uniform mass distributions may be more likely to drift or wobble laterally during transportation. In addition, certain conventional consoles can be designed and tested to be carried by technicians within a specific height and weight percentage such that the technician's force is aligned with the center of mass of the console. Thus, certain conventional consoles may be more likely to drift or wobble laterally during transportation if carried by a technician who is outside the design parameters (e.g., a technician who is shorter or lighter than the design criteria). Accordingly, some embodiments disclosed herein can address one or more of these problems and provide a caster assembly having features that minimize unintentional turning of the caster wheels. In some embodiments, the caster assembly described herein can implement a pedal-actuated mechanism that selectively allows the caster wheels to freely turn or rotate while the caster wheels are locked in a desired alignment.

[0085] Second, the present disclosure includes the realization that locking a single caster wheel of the caster assembly can still allow the console to move unintentionally or be placed in an unstable state due to contact with the console, which can have an adverse effect on the surgical procedure during the surgical procedure or when the surgeon is interfacing with the console. Accordingly, some embodiments disclosed herein can address one or more of these problems and provide a caster assembly having features that securely position the console during a surgical procedure by locking a plurality of caster wheels. In some embodiments, the caster assembly described herein can implement a pedal-actuated mechanism that selectively brakes a plurality of caster wheels of the caster assembly simultaneously.

[0086] Thirdly, the present disclosure includes the realization that because certain conventional consoles do not provide a state or indication of whether the caster wheels are locked or unlocked, inexperienced users may operate or interface with the console without locking the caster, which may move the console due to unintentional contact with the console and have an adverse effect on the surgical procedure. Thus, some embodiments disclosed herein can address one or more of these problems and provide a caster assembly having a feature that provides an indication when the caster wheels are locked. In some embodiments, the caster assembly can implement a system or method for detecting the position of a pedal and / or the state of a brake to determine whether the caster wheels are locked or unlocked. In some embodiments, the caster assembly can implement a system or method that prevents the console from being used in a surgical operation until the console is locked in place and the caster wheels are locked.

[0087] FIG. 21 shows a perspective view of a console 200. In the example shown, the console 200 can enable a surgeon or other clinician to perform a surgical procedure or control the operation of a surgical robotic system. In some embodiments, the console 200 can be a physician's interface console that enables a surgeon to control the operation of a surgical robotic system via one or more human interface devices 201. The console 200 can include features similar to those described herein with respect to console 31.

[0088] FIG. 22 shows a perspective view of the caster assembly 210. FIG. 23 shows a partial elevation view of the caster assembly 210 of FIG. 22 with the lock member in the unlocked position. Referring to FIGS. 21-23, the console 200 includes one or more caster assemblies 210 that enable the console 200 to be transported between locations and secured for surgical procedures and / or storage. In the illustrated example, the console 200 can include a left caster assembly 210 and a right caster assembly 210 disposed on both sides of the console 200 to enable the transport and positioning of the console 200. As described herein, the caster assembly 210 includes at least two casters 220 that enable the console 200 to be moved between locations.

[0089] In the illustrated example, the caster wheel 230 rotates relative to the wheel housing 232 and can move the console 200. As shown, the wheel housing 232 is coupled to the caster support 224 via the wheel support 222. In some embodiments, the components of the caster 220 are further covered or concealed by a shroud 226. The caster support 224 can be coupled to the console 200 to secure the caster assembly 210 to the console 200.

[0090] Further, in an embodiment, the caster wheel 230 can pivot relative to the caster support 224 and the console 200 to enable the console 200 to be rotated or manipulated. In the illustrated example, the wheel support 222 can be rotatably coupled to the caster support 224 such that the wheel support 222, and thus the caster wheel 230, can pivot relative to the caster support 224. In some embodiments, the caster wheel 230 can pivot within the shroud 226.

[0091] As described herein, the caster assembly 210 further includes a locking member 240 that selectively brakes or locks the caster wheel 230 to secure the console 200 in a desired position. Further, the caster assembly 210 can include a direction locking mechanism 300 that can selectively rotate the caster wheel 230 to improve maneuverability or lock it in a desired alignment to facilitate straight-line movement of the console 200. In the illustrated embodiment, the caster assembly 210 includes one or more pedal assemblies 280, 282 to control the operation of the locking member 240 and the direction locking mechanism 300, respectively.

[0092] Optionally, some embodiments of the caster assembly 210 can include one or more sensors that can detect the state of the pedal assembly 280 to determine whether the caster wheel 230 is locked or unlocked. In some embodiments, the caster assembly 210 described herein can be used with any suitable console or component for use with a surgical robot system.

[0093] FIG. 24 shows a partial elevation view of the caster assembly of FIG. 22 with the locking member in the locked position. FIG. 25 is an exploded perspective view of the locking member. Referring to FIGS. 23-25, the locking member 240 is movable to selectively engage the caster wheel 230 and brakes or locks the caster wheel 230 in a predetermined position. In the illustrated example, the locking member 240 has an unlocked position (FIG. 23) where the locking member 240 is spaced from the caster wheel 230 to allow the caster wheel 230 to rotate freely, and a locked position (FIG. 24) where the locking member 240 engages the caster wheel 230 with sufficient force to prevent rotation of the caster wheel 230 and / or prevent movement of the attached console. As described herein, a plurality of locking members 240 can selectively engage the respective plurality of caster wheels 230 to control the rotation of each caster wheel 230.

[0094] In the illustrated example, the locking member 240 includes a brake portion 252 configured to frictionally engage with the caster wheel 230 to decelerate or stop rotation. The brake portion 252 can be formed from a material configured to generate a desired frictional force when in contact with the caster wheel 230. As shown, the brake portion 252 can be formed as a lock ring 250 having an opening 254 therethrough. Advantageously, the annular structure of the lock ring 250 allows the wheel support 222 to pass through the opening 254 and may allow the caster wheel 230 to pivot relative to the lock ring 250 while still allowing the brake portion 252 of the lock ring 250 to engage the caster wheel 230 regardless of the pivot or rotational position of the caster wheel 230. In some embodiments, the lock ring 250 can have a generally circular profile. Optionally, the lock ring 250 can have an elliptical or oval profile that allows for a uniform distribution of braking force regardless of the pivot or rotational position of the caster wheel 230.

[0095] During operation, the brake portion 252 (or generally, the lock ring 250) can move relative to the caster wheel 230 to engage and / or disengage the brake portion 252 from the caster wheel 230. FIG. 26 shows a partial perspective view of the caster assembly 210 of FIG. 22. Referring to FIGS. 25 and 26, the lock ring 250 can rotate about the pivot pin 245, allowing the brake portion 252 to rotate about an axis of rotation defined by the pivot pin 245 to engage and disengage from the caster wheel 230. As shown, the lock ring 250 defines a pivot component 246 for receiving the pivot pin 245 and rotatably coupling the lock ring 250 to the pivot pin 245.

[0096] In some embodiments, the variations or tolerances of the caster assembly 210 may result in inconsistency or variations in the braking force applied by the brake portion 252 to the caster wheel 230. Optionally, the axis of rotation of the lock ring 250 can be adjusted relative to the caster wheel 230 such that a consistent and / or desired force is reliably applied to each caster wheel 230 by the brake portion 252. In the illustrated example, the pivot pin 245 that defines the axis of rotation of the lock ring 250 is captured by the yoke 248 via the leg 247 or otherwise supported. By adjusting or manipulating the vertical position of the yoke 248 relative to the caster wheel 230, the position of the pivot pin 245, and thus the axis of rotation of the lock ring 250, is adjusted relative to the caster wheel 230. In some embodiments, the yoke 248 may be adjustably coupled to the shroud 226. The vertical position of the yoke 248 relative to the shroud 226 (and the caster wheel 230) can be adjusted by tightening or loosening an adjustment screw. The adjustment screw may include a lock nut to maintain the vertical position of the yoke 248 after adjustment.

[0097] In the illustrated example, the brake portion 252 can be moved or rotated relative to the caster wheel 230 by applying a force to or moving an extension portion 242 extending from the lock ring 250. At least as shown in FIG. 25, the extension portion 242 can extend from the lock ring 250 in a direction opposite the pivot component 246. In some embodiments, the end portion 243 of the extension portion 242 can be moved to move or actuate the brake portion 252 relative to the caster wheel 230. Optionally, the length of the extension portion 242 and / or the position of the end portion 243 relative to the brake portion 252 can be configured to multiply the force applied by the user to the brake portion 252 by a desired factor. Similarly, the length of the extension portion 242 and / or the position of the end portion 243 relative to the brake portion 252 can be configured to adjust the movement required by the user to engage or disengage the brake portion 252 relative to the caster wheel 230.

[0098] Figure 27 shows a partially exploded perspective view of the lock member 240 and the pedal assembly 280. Referring to FIGS. 23 to 25 and FIG. 27, one or more lock members 240 can be moved or otherwise actuated by a lock plate 260 to engage or disengage the brake portion 252 with respect to the caster wheel 230. As shown, a plurality of lock members 240 (e.g., two lock members 240) can be moved or actuated by a single common lock plate 260 to engage or disengage the brake portion 252 with respect to each respective caster wheel 230. As shown in FIG. 23, the lock plate 260 can be moved upward to disengage the brake portion 252 of each lock member 240 from the respective caster wheel 230. As shown in FIG. 24, the lock plate 260 can be moved downward to engage the brake portion 252 of each lock member 240 with respect to each caster wheel 230.

[0099] In some embodiments, the end portion 243 of each respective lock member 240 is coupled to the lock plate 260 via one or more fasteners 264 that extend through the hole 244 of the lock member 240 and the hole 262 of the lock plate 260. During operation, the lock member 240 can rotate with respect to the lock plate 260 around the fastener 264 as the lock plate 260 is translated. As described above, variations or tolerances in the caster assembly 210 can cause inconsistencies or variations in the braking force applied by the brake portion 252 to the caster wheel 230.

[0100] In some embodiments, the rotational position of each caster wheel 230 can change the contact or pivot location between the lock member 240 and each caster wheel 230, so the amount of movement of the lock member 240 between the unlocked position and the locked position can vary based on the swivel or rotational position of each caster wheel 230. Thus, in some embodiments, the lock member 240 can be coupled to the lock plate 260 via a tension spring 266 to correct for differences in the travel distance between the unlocked position and the locked position when the swivel or rotational position of the caster wheel 230 changes. During operation, the tension spring 266 can extend or contract relative to the lock plate 260 to adjust the amount of movement necessary to move the lock member 240 between the unlocked position and the locked position in accordance with the swivel or rotational position of each caster wheel 230. Optionally, one end of the tension spring 266 may be coupled to the lock plate 260 via one or more fasteners 264 that extend through a hole 262 in the lock plate 260, and the other end of the tension spring 266 may be coupled to an end portion 243 of the lock member 240 via one or more fasteners 264 that extend through a hole 244 in the lock member.

[0101] FIG. 28 shows a perspective view of the caster assembly 210. FIG. 29 shows a partial exploded perspective view of the pedal assemblies 280, 282. FIG. 30 shows a perspective view of the pedal assembly 280. FIG. 31 shows a rear elevation view of the pedal assembly 280.

[0102] Referring to FIGS. 28 - 31, the pedal assembly 280 enables a user to lock and unlock the caster wheels 230 of the caster assembly 210. In the illustrated example, the pedal assembly 280 moves a lock plate 260 to control the position of a lock member 240 and then controls the position of a brake portion 252 relative to each caster wheel 230. Advantageously, the user can selectively brake multiple caster wheels 230 simultaneously by actuating a single pedal assembly 280, preventing the console 200 from moving unintentionally or being placed in an unstable state during a surgical procedure or when the surgeon is interfacing with the console 200.

[0103] As shown, a pedal body 281 is coupled to the lock plate 260 such that movement of the pedal body 281 is capable of translating the lock plate 260. In the illustrated example, the pedal body 281 is translatable relative to a base frame 272 of the base assembly 270 or movable in some other manner. In some embodiments, the pedal body 281 is coupled to the base frame 272 by a linear guide 274 to constrain movement of the pedal body 281 to vertical translation. During operation, the user can depress the pedal body 281 by applying a force to a pedal cover 286 attached to or otherwise coupled to the upper portion of the pedal body 281. The pedal cover 286 can include a wide surface with one or more optional raised portions to enable the user to easily step on the pedal cover 286, depress or otherwise actuate the pedal assembly 280, and engage the brake portion 252 relative to each caster wheel 230. Optionally, a biasing member such as a return spring biases the pedal body 281 to an extended position and can disengage the brake portion 252 from each caster wheel 230. In some embodiments, the return spring can be a gas spring.

[0104] In some embodiments, the pedal assembly 280 can include a latch 285 coupled to the pedal body 281 to hold the pedal body 281 (and thus the lock plate 260) in the depressed or locked position. In the depressed position, the latch 285 can engage a retainer 284 coupled to the base frame 272 or other component that is stationary relative to the pedal body 281 to hold the pedal body 281 in the depressed position. In some embodiments, the engagement between the latch 285 and the retainer 284 is configured to overcome or withstand the return force from the biasing member to hold the pedal body 281 in the depressed position.

[0105] Optionally, the latch 285 can be disengaged from the retainer 284 by further depressing the pedal body 281 relative to the retainer 284, allowing the return force from the biasing member to return the pedal body 281 to the extended position.

[0106] In some embodiments, the caster assembly 210 can include one or more sensors for detecting whether the caster wheel 230 is locked or unlocked. Since the position of the pedal body 281 corresponds to the position of the brake portion 252 relative to each caster wheel 230, the position of the pedal body 281 can be used to determine whether the caster wheel 230 is locked or unlocked. In the illustrated example, the pedal assembly 280 can include one or more sensors 292 for detecting the position of the pedal body 281 relative to the base frame 272. The sensor 292 may be coupled to the base frame 272 or disposed on any other suitable surface to detect the position of the pedal body 281. In some embodiments, the sensor 292 can include one or more hall effect sensors. Advantageously, the use of the sensor 292 can prevent the user from inadvertently interacting with the console 200 without locking the caster wheel 230 in place, preventing the console 200 from moving during a surgical procedure. In some embodiments, both the left caster assembly 210 and the right caster assembly 210 can include sensors 292 for detecting whether their respective caster wheels 230 are locked or unlocked.

[0107] During operation, when the pedal body 281 is pushed down or translated downward relative to the base frame 272, the sensor 292 can detect a change in the magnetic field when the pedal body 281 is moved toward the locked position and determine the depressed position of the pedal body 281 and the locked state of the caster wheel 230. Similarly, the sensor 292 can detect a change in the magnetic field when the pedal body 281 is translated upward to the unlocked position and determine the extended position of the pedal body 281 and the unlocked state of the caster wheel 230. In some embodiments, the pedal body 281 can include one, two, or more magnets 290 adhered, fixed, or otherwise coupled to the pedal body 281. In some embodiments, the pedal assembly 280 may include redundant sensors 292. The sensor 292 may include other suitable types of sensors including contact sensors, optical sensors, ultrasonic sensors, and the like.

[0108] In some embodiments, the information from the sensor 292 regarding the position of the pedal body 281 can be used to notify the user of the current locked state of the caster wheel 230 and / or prevent the use of the surgical robot system while the caster wheel 230 is unlocked. In the illustrated example, the data from the sensor 292 can be provided to the controller of the robotic surgical system to provide the user with a notification that the caster wheel 230 is in the locked or unlocked state. In some embodiments, the robotic surgical system and / or the caster assembly 210 may provide audible, visual, and / or tactile alerts when the pedal body 281 is in the extended position and / or when the caster wheel 230 is in the unlocked state.

[0109] Optionally, the alerts provided may depend on the operating state of the robotic surgical system. Further, in some embodiments, the robotic surgical system and / or the caster assembly 210 may prevent or disable a surgical procedure when the pedal body 281 is in the extended position and / or when the caster wheels 230 are in the unlocked state. In some embodiments, the robotic surgical system may prevent or disable a surgical procedure when a caster wheel 230 of either the left or right caster assembly 210 is in the unlocked state. Similarly, the robotic surgical system and / or the caster assembly 210 may enable a surgical procedure when the pedal body 281 is in the depressed position and / or when the caster wheels 230 are in the locked state. In some embodiments, the robotic surgical system may enable a surgical procedure when the caster wheels 230 of both the left and right caster assemblies 210 are in the locked state.

[0110] FIG. 32 shows a perspective view of the caster assembly 210 with the direction lock mechanism 300 unlocked. FIG. 33 shows a perspective view of the caster assembly 210 with the direction lock mechanism 300 locked. Referring to FIGS. 32 and 33, the direction lock mechanism 300 can selectively allow the caster wheel 230 to swivel or remain in a desired alignment. In the illustrated example, the direction lock mechanism 300 has an unlocked position (FIG. 32) where the direction lock mechanism 300 freely swivels (and rotates relative to the wheel support 222) the caster wheel 230, and a locked position (FIG. 33) where the direction lock mechanism 300 prevents the caster wheel 230 from swiveling (without affecting the rotation of the caster wheel 230 relative to the wheel support 222). As described herein, multiple direction lock mechanisms 300 can be selectively used to control the swiveling function of each caster wheel 230.

[0111] In some embodiments, the direction lock mechanism 300 selectively engages the track of the caster wheel 230 or other swiveling elements to enable or prevent the swiveling of the caster wheel 230. As described herein, the wheel support 222 of the caster wheel 230 can rotate relative to the caster support 224 such that the caster wheel 230 can swivel. In some embodiments, the direction lock mechanism 300 can selectively engage or couple the wheel support 222 of the caster wheel 230 with the respective caster support 224 to enable or prevent the swiveling of the caster wheel 230. In the unlocked position, the direction lock mechanism 300 can separate, disengage, or otherwise release the wheel support 222 from the caster support 224 to allow the wheel support 222 to swivel independently of the caster support 224. In the locked position, the direction lock mechanism 300 can couple or engage the wheel support 222 with the caster support 224 to prevent the wheel support 222 from moving or swiveling independently of the caster support 224. In some embodiments, the direction lock mechanism 300 can use any suitable mechanism to enable or prevent the swiveling of the caster wheel 230.

[0112] In some embodiments, the unlocked and locked positions of the direction lock mechanism 300 are selected by rotating the key groove 302. Optionally, the key groove 302 can be rotated by a predetermined amount to select the locked position from the unlocked position, and vice versa. For example, the key groove 302 can be rotated 30 degrees to move from the unlocked position to the locked position, or from the locked position to the unlocked position. As shown, the key groove 302 may be rotated by a hexagonal shaft or key 310 configured to interface with or apply a rotational force to the key groove 302.

[0113] In the illustrated example, the key grooves 302 of one or more directional locking mechanisms 300 can be operated or controlled from a location spaced apart via the key 310. As shown, the key groove 302 can be rotated by the first end 312 of the key 310 by applying torque to any portion of the key 310 that includes the second end 314, or any other portion that includes an intermediate portion of the key 310. Similarly, the key groove 302 of the second directional locking mechanism 300 can be rotated by the second end 314 of the key by applying torque to any portion of the key 310 that includes an intermediate portion of the key 310. Thus, in some embodiments, the key 310 can simultaneously rotate the key grooves 302 of a plurality of directional locking mechanisms 300 via the first end 312 and the second end 314 of the key 310. Advantageously, by rotating the key 310, the user can simultaneously lock or unlock the directional locking mechanisms 300 corresponding to each caster wheel 230, simultaneously swivel each caster wheel 230, or lock in a particular desired alignment.

[0114] FIG. 34 shows a side view of the directional lock pedal assembly 282. FIG. 35 shows a partial perspective view of the directional lock pedal assembly 282. Referring to FIGS. 34 and 35, the pedal assembly 282 enables the user to selectively enable and prevent the swiveling of the caster wheels 230 of the caster assembly 210. In the illustrated example, the pedal assembly 282 rotates the key 310 to move the key groove 302 of each directional locking mechanism 300 between an unlocked position and a locked position. Advantageously, the user can selectively either freely swivel the caster wheels 230 to enable operation of the console 200 or lock the caster wheels 230 in a desired alignment so that the console 200 can be moved forward or backward without the console 200 drifting or wobbling laterally.

[0115] As shown, the pedal body 283 is coupled to the key 310 via a linkage mechanism 320, enabling movement or translation of the pedal body 283 and rotating the key 310. In the illustrated example, the pedal body 283 is translatable relative to the base frame 272 of the base assembly 270 or movable in other ways. In some embodiments, the pedal body 283 is coupled to the base frame 272 by a linear guide 276 to constrain the movement of the pedal body 283 to vertical translation. As shown, the linkage mechanism 320 is coupled to the key 310 and attached to the pedal body 283 via a rotatable linkage mechanism pivot component 328. Thus, when the pedal body 283 translates vertically, the linkage mechanism 320 rotates relative to the pedal body 283, rotating the key 310. In the illustrated example, when the pedal body 283 is moved downward, the linkage mechanism 320 rotates downward and the key 310 rotates counterclockwise toward the lock position of the direction lock mechanism 300. When the pedal body 283 is moved upward, the linkage mechanism 320 rotates upward and the key 310 rotates clockwise toward the unlock position of the direction lock mechanism 300.

[0116] In some embodiments, the linkage mechanism 320 may be engaged or otherwise coupled to the key 310 by a linkage mechanism key groove 322 formed in the linkage mechanism 320, enabling the linkage mechanism 320 to rotate the key 310. In some embodiments, the linkage mechanism key groove 322 includes a key slot 324 that allows insertion and removal of the key 310 from the linkage mechanism 320.

[0117] As shown, the linkage mechanism pivot component 328 is disposed within an elongated slot 326, enabling the linkage mechanism pivot component 328 to move in an arc when the linkage mechanism 320 rotates and preventing coupling between the pedal body 283 and the linkage mechanism 320 when the pedal body 283 translates. The linkage mechanism pivot component 328 may be captured or held within the elongated slot 326 by a retaining clip 329.

[0118] During operation, the user can depress the pedal body 283 by applying force to the pedal cover 288 attached to or otherwise coupled to the upper portion of the pedal body 283. The pedal cover 288 can include a wide surface with one or more optional raised portions to enable the user to easily step on the pedal cover 288, depress or otherwise actuate the pedal assembly 282, and lock the caster wheel 230 in a desired swivel orientation. In some embodiments, the pedal cover 288 corresponding to the operation of the direction lock mechanism 300 can be visually or tactilely distinguishable from the pedal cover 286 corresponding to the operation of the brake portion 252. Optionally, a biasing member such as a return spring can bias the pedal body 283 to an extended position and enable the caster wheel 230 to freely swivel. In some embodiments, the return spring can be a gas spring.

[0119] Similar to the pedal assembly 280, the pedal assembly 282 can include a latch 285 coupled to the pedal body 283 to hold the pedal body 283 (and thus the key 310) in a depressed or locked position. In the depressed position, the latch 285 can engage a retainer 284 coupled to the base frame 272 or other component that is stationary relative to the pedal body 283 to hold the pedal body 283 in the depressed position. In some embodiments, the engagement between the latch 285 and the retainer 284 is configured to overcome or withstand the return force from the biasing member to hold the pedal body 283 in the depressed position. Optionally, the latch 285 can disengage from the retainer 284 by further depressing the pedal body 283 relative to the retainer 284, allowing the return force from the biasing member to return the pedal body 283 to the extended position.

[0120] 3. Implementation System and Terms. The implementation aspects disclosed herein provide systems, methods, and apparatuses for operably coupling a closure and a cannula.

[0121] As used herein, it should be noted that the terms "coupled", "coupling", "coupled to", or other variations of the word "coupling" may indicate either an indirect connection or a direct connection. For example, when a first component is "coupled to" a second component, the first component may be either indirectly connected to the second component via another component or directly connected to the second component.

[0122] The methods disclosed herein include one or more steps or acts for achieving the described methods. The method steps and / or acts may be replaced with each other as long as they do not depart from the scope of the claims. In other words, the order and / or use of the specific steps and / or acts may be modified without departing from the scope of the claims as long as a specific order of steps or acts is not required for the proper operation of the described method.

[0123] As used herein, the term "plurality" indicates two or more. For example, a plurality of components means two or more components. The term "determine" encompasses a wide variety of acts, and thus, "determine" may include calculate, compute with a computer, process, derive, investigate, look up (e.g., examine a table, database, or another data structure), verify, etc. Also, "determine" can include receive (e.g., receive information), access (e.g., access data in a memory), etc. Further, "determine" can include solve, select, pick out, establish, etc.

[0124] The phrase "based on" does not mean "based only on" unless expressly specified otherwise. In other words, the phrase "based on" describes both "based only on" and "based at least on".

[0125] The foregoing description of the disclosed implementations is provided to enable any person skilled in the art to make or use the present invention. Those skilled in the art will readily recognize various modifications to these implementations, and the general principles defined herein may be applied to other implementations without departing from the scope of the invention. For example, those skilled in the art will understand that many corresponding alternative and equivalent structural details, such as fastening, attaching, coupling, or engaging tool components in a similar manner, mechanisms equivalent to producing a particular operating movement, and mechanisms equivalent to delivering electrical energy, can be employed. Accordingly, the present invention is not intended to be limited to the implementations shown herein, but rather is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0126] 〔Embodiment〕 (1) A caster assembly for use with a surgical console, the caster assembly comprising: caster wheels; a lock member engageable with the caster wheels, the lock member having a first end portion defining a pivot and a second end portion movable to rotate the lock member about the pivot for selectively engaging the lock member with the caster wheels; a pedal coupled to the second end portion of the lock member, wherein (i) movement of the pedal toward a depressed position causes rotation of the lock member to engage the lock member with the caster wheels to resist or prevent rotation of the caster wheels, and (ii) movement of the pedal toward a released position causes rotation of the lock member to disengage the lock member from the caster wheels to enable rotation of the caster wheels; a position sensor disposed adjacent to the pedal for detecting the position of the pedal; and a caster assembly comprising the same. (2) The caster assembly according to Embodiment 0, wherein the position sensor includes a Hall effect sensor. (3) The caster assembly according to Embodiment 2, further comprising a magnet coupled to the pedal, wherein the Hall effect sensor detects the position of the magnet relative to the Hall effect sensor. (4) The caster assembly according to any one of Embodiments 1 to 3, further comprising a second position sensor disposed adjacent to the pedal for detecting the position of the pedal. (5) Further comprising a controller, the controller receives the position of the pedal from the position sensor, and is configured to disable the operation of the surgical console in response to the pedal being detected in the released position. The caster assembly according to any one of Embodiments 1 to 4.

[0127] (6) The caster assembly according to Embodiment 5, wherein the controller is further configured to enable the operation of the surgical console in response to the pedal being detected in the depressed position. (7) The caster assembly according to any one of Embodiments 1 to 6, further comprising a movable lock plate coupled to the pedal and the second end portion of the lock member, the movable lock plate being translatable with the pedal to rotate the lock member. (8) The caster assembly according to any one of Embodiments 1 to 7, further comprising a linear guide coupled to the pedal, the linear guide preventing lateral movement of the pedal. (9) The caster assembly according to any one of Embodiments 1 to 8, further comprising a gas spring coupled to the pedal, the gas spring being configured to bias the pedal toward the released position. (10) The caster assembly according to any one of Embodiments 1 to 9, further comprising a latch mechanism configured to selectively hold the pedal in the depressed position.

[0128] (11) A method of interlocking a surgical console, the method comprising: detecting the position of a pedal coupled to a locking member of a caster assembly, wherein (i) movement of the pedal towards a depressed position causes rotation of the locking member to engage the locking member with the caster wheel so as to resist or prevent rotation of the caster wheel, and (ii) movement of the pedal towards a released position causes rotation of the locking member to disengage the locking member from the caster wheel so as to allow rotation of the caster wheel; disabling operation of the surgical console when the pedal is detected in the released position. (12) The method according to embodiment 0, further comprising enabling operation of the surgical console in response to the pedal being detected in the depressed position. (13) The method according to embodiment 11 or 12, further comprising detecting a magnetic field of a magnet coupled to the pedal to determine the position of the pedal. (14) A caster assembly for use with a surgical console, the caster assembly comprising: a caster, a caster wheel configured to pivot and rotate relative to the surgical console; a direction locking mechanism having a keyway rotatable to (i) a direction locking position for providing resistance to pivoting of the caster wheel relative to the surgical console, or (ii) a direction unlocking position for allowing pivoting of the caster wheel relative to the surgical console; a key extending between a first end portion and a second end portion, the first end portion extending through the keyway of the direction locking mechanism of the caster; A first pedal rotatably coupled to the key, the first pedal being movable (i) toward a first depressed position for rotating the key and the key groove toward the direction lock position, and (ii) toward a first release position for rotating the key and the key groove toward the direction unlock position. A lock member defining a first end portion and a second end portion, the second end portion of the lock member being pivotable about the first end portion. A second pedal coupled to the second end portion of the lock member, the second pedal being movable (i) toward a second depressed position for rotating the lock member to engage the lock member with the caster wheel to resist or prevent rotation of the caster wheel, and (ii) toward a second release position for rotating the lock member to disengage the lock member from the caster wheel to allow rotation of the caster wheel. A position sensor disposed adjacent to the second pedal, detecting the position of the second pedal, and determining the rotational position of the lock member. A caster assembly comprising the above. (15) The caster assembly according to embodiment 0, wherein the second pedal is disposed adjacent to the first pedal.

[0129] (16) The caster assembly according to embodiment 14 or 15, wherein the position sensor comprises a hall effect sensor. (17) The caster assembly according to embodiment 16, further comprising a magnet coupled to the second pedal, the hall effect sensor detecting the position of the magnet relative to the hall effect sensor. (18) The caster assembly according to any one of embodiments 14 to 17, comprising a second position sensor disposed adjacent to the second pedal for detecting the position of the second pedal. (19) Further comprising a controller, the controller being Receiving the position of the second pedal from the position sensor, The caster assembly according to any one of embodiments 14 to 18, configured to disable the operation of the surgical console in response to the second pedal being detected at the second release position. (20) The controller is further configured to enable the operation of the surgical console in response to the second pedal being detected at the second depressed position, the caster assembly according to embodiment 19.

Claims

1. A caster assembly for use with a surgical console, the caster assembly comprising: a caster wheel; a lock member engageable with the caster wheel, the lock member having a first end portion defining a pivot and a second end portion movable to rotate the lock member about the pivot for selectively engaging the lock member with the caster wheel; a pedal coupled to the second end portion of the lock member, wherein (i) movement of the pedal toward a depressed position causes rotation of the lock member to engage the lock member with the caster wheel to resist or prevent rotation of the caster wheel, and (ii) movement of the pedal toward a released position causes rotation of the lock member to disengage the lock member from the caster wheel to allow rotation of the caster wheel; a position sensor disposed adjacent to the pedal for detecting the position of the pedal; a caster assembly comprising the same.

2. The caster assembly according to claim 1, wherein the position sensor comprises a Hall effect sensor.

3. The caster assembly according to claim 2, further comprising a magnet coupled to the pedal, the Hall effect sensor detecting the position of the magnet relative to the Hall effect sensor.

4. The caster assembly according to any one of claims 1 to 3, further comprising a second position sensor disposed adjacent to the pedal for detecting the position of the pedal.

5. The caster assembly according to claim 1, further comprising a controller configured to: receive the position of the pedal from the position sensor; disable operation of the surgical console in response to detecting that the pedal is in the released position.

6. The caster assembly according to claim 5, wherein the controller is further configured to enable operation of the surgical console in response to detecting that the pedal is in the depressed position.

7. The caster assembly according to claim 1, further comprising a movable lock plate coupled to the pedal and the second end portion of the lock member, wherein the movable lock plate is translatable with the pedal to rotate the lock member.

8. The caster assembly according to claim 1, further comprising a linear guide coupled to the pedal, the linear guide preventing lateral movement of the pedal.

9. The caster assembly according to claim 1, further comprising a gas spring coupled to the pedal, the gas spring being configured to bias the pedal toward the release position.

10. The caster assembly according to claim 1, further comprising a latch mechanism configured to selectively hold the pedal in the depressed position.

11. A method of interlocking a surgical console, the method comprising: detecting a position of a pedal coupled to a lock member of a caster assembly, wherein (i) movement of the pedal toward the depressed position causes rotation of the lock member to engage the lock member with the caster wheel so as to resist or prevent rotation of the caster wheel, and (ii) movement of the pedal toward the release position causes rotation of the lock member to disengage the lock member from the caster wheel so as to allow rotation of the caster wheel; and disabling operation of the surgical console when the pedal is detected in the release position.

12. The method according to claim 11, further comprising enabling operation of the surgical console in response to the pedal being detected in the depressed position.

13. The method according to claim 11 or 12, further comprising detecting a magnetic field of a magnet coupled to the pedal to determine the position of the pedal.

14. A caster assembly for use with a surgical console, the caster assembly comprising: a caster, a caster wheel configured to swivel and rotate relative to the surgical console; A caster, comprising: a direction lock mechanism having a key groove rotatable to (i) a direction lock position for providing resistance to the rotation of the caster wheel relative to the surgical console, or (ii) a direction unlock position for enabling the rotation of the caster wheel relative to the surgical console. A key extending between a first end portion and a second end portion, the first end portion extending through the key groove of the direction lock mechanism of the caster. A first pedal rotatably coupled to the key, the first pedal being movable (i) toward a first depressed position for rotating the key and the key groove toward the direction lock position, and (ii) toward a first released position for rotating the key and the key groove toward the direction unlock position. A lock member defining a first end portion and a second end portion, the second end portion of the lock member being pivotable about the first end portion. A second pedal coupled to the second end portion of the lock member, the second pedal being movable (i) toward a second depressed position for rotating the lock member to engage the lock member with the caster wheel so as to resist or prevent the rotation of the caster wheel, and (ii) toward a second released position for rotating the lock member to disengage the lock member from the caster wheel so as to enable the rotation of the caster wheel. A position sensor disposed adjacent to the second pedal for detecting the position of the second pedal and determining the rotational position of the lock member. A caster assembly comprising the above.

15. The caster assembly according to claim 14, wherein the second pedal is disposed adjacent to the first pedal.

16. The caster assembly according to claim 14 or 15, wherein the position sensor comprises a Hall effect sensor.

17. The caster assembly according to claim 16, further comprising a magnet coupled to the second pedal, the Hall effect sensor detecting the position of the magnet relative to the Hall effect sensor.

18. The caster assembly according to claim 14, further comprising a second position sensor disposed adjacent to the second pedal for detecting the position of the second pedal. **Claim 19** The caster assembly further comprises a controller, and the controller receives the position of the second pedal from the position sensor, and is configured to disable the operation of the surgical console in response to the second pedal being detected at the second release position. **Claim 20** The caster assembly according to claim 19, wherein the controller is further configured to enable the operation of the surgical console in response to the second pedal being detected at the second depressed position.

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