Safety Mode and Firing Mode for a Robot Clip Applicator

Abstract

The device includes an instrument, a user input unit, and a control module. The instrument includes an end effector having a first jaw and a second jaw that are operable to transition between a fully open position and a fully closed position. The control module communicates with the instrument and the first user input unit. The control module is configured to transition between a safe operation mode and a firing operation mode. In the safe operation mode, the control module is configured to prevent or limit the closing of the first jaw and the second jaw in response to an actuation signal from the first user input unit. In the firing operation mode, the control module is configured to generate a power drive signal that drives the closing of the first jaw and the second jaw to the fully closed position.

Description

Background Art

[0001] Various surgical instruments include end effectors for use in conventional medical treatments and procedures performed by medical practitioners, as well as in robotic-assisted surgery. Such surgical instruments may be directly grasped and manipulated by a surgeon or may be incorporated into robotic-assisted surgery. In the case of robotic-assisted surgery, the surgeon may operate a master controller to remotely control the movement of such surgical instruments at the surgical site. The controller may be separated from the patient by a significant distance (e.g., across an operating room, in a different room, or in a completely different building from the patient). Alternatively, the controller may be positioned very close to the patient within the operating room. In any case, the controller may include one or more hand input devices (joysticks, exoskeleton gloves, master manipulators, etc.) coupled to the surgical instrument by servo mechanisms. In one embodiment, a servo motor moves a manipulator that supports the surgical instrument based on the operation of the hand input device by the surgeon. During surgery, the surgeon may employ various surgical instruments, including ultrasonic blades, surgical staplers, tissue graspers, needle holders, electrosurgical cautery probes, etc., via a robotic surgical system. Each of these structures performs functions for the surgeon, such as cutting tissue, coagulating tissue, holding or driving a needle, grasping a blood vessel, incising tissue, or cauterizing tissue.

[0002] Although several robotic surgical systems and related components have been made and used, it is believed that no one has made or used the invention described in the appended "Claims" prior to the present inventors.

Brief Description of the Drawings

[0003] This specification concludes with the "claims," which particularly point out and distinctly claim the technology. However, the technology is better understood by reading the following description of certain specific embodiments in conjunction with the accompanying drawings, in which like reference numerals identify like elements.

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[0004] The drawings are not intended to limit in any way, and it is contemplated that various other embodiments of the present technology, including those not necessarily depicted in the drawings, can be implemented in various other ways. The accompanying drawings incorporated herein and forming a part of this specification illustrate some aspects of the present technology and are useful for explaining the principles of the present technology together with the specification, but it is understood that the present technology is not limited to the exact arrangements shown.

Best Mode for Carrying Out the Invention

[0005] The following description of specific embodiments of the present technology should not be used for the purpose of limiting its scope. Other embodiments, features, aspects, embodiments, and advantages of the present technology will become apparent to those skilled in the art from the following description, which is one of the best modes contemplated for practicing the present technology by way of illustration. As will be understood, any of the techniques described herein can be implemented in other different and obvious ways without departing from the technology. Therefore, the drawings and description are not limiting and should be considered essentially illustrative.

[0006] It should be further understood that any one or more of the teachings, expressions, embodiments, examples, etc. described herein may be combined with any one or more of the other teachings, expressions, embodiments, examples, etc. described herein. Therefore, the teachings, expressions, embodiments, examples, etc. described below should not be considered in isolation from each other. Various suitable ways of combining the teachings of this specification will be readily apparent to those skilled in the art upon consideration of the teachings of this specification. Such modifications and variations are intended to be included within the scope of the "claims".

[0007] For the sake of clarity of the present disclosure, the terms "proximal" and "distal" are defined herein with respect to an operator of a surgical instrument, whether human or robotic. The term "proximal" refers to the position of an element that is closer to an operator of a surgical instrument, whether human or robotic, and further away from the surgical end effector of the surgical instrument. The term "distal" refers to the position of an element that is closer to the surgical end effector of the surgical instrument and further away from an operator of the surgical instrument, whether human or robotic. For convenience and to clarify the description, it will also be further recognized that spatial terms such as "side", "upwardly", and "downwardly" are used herein to refer to relative positions and directions. Such terms are used below with reference to the figures as illustrated for clarity and are not intended to limit the invention described herein.

[0008] Aspects of the embodiments described herein may be integrated into a robot-compatible medical system, including a robotic surgical system capable of performing various medical procedures, including both minimally invasive procedures such as laparoscopy and non-invasive procedures such as endoscopy. Among endoscopies, bronchoscopy, ureteroscopy, gastric camera examination, etc. can be performed.

[0009] A robotic-assisted medical system can provide additional benefits, such as enhanced imaging and guidance to assist medical personnel, in addition to performing a wide range of procedures. Additionally, a robotic-assisted medical system can provide medical personnel with the ability to perform procedures from an ergonomic position without requiring awkward arm movements or postures. Still further, a robotic-assisted medical system can provide medical personnel with the ability to perform procedures with improved ease of use, such that one or more instruments of the robotic-assisted medical system are controlled by a single operator.

[0010] I. Example of a Robotic-Assisted Medical System FIG. 1 shows an embodiment of a robotic-assisted medical system, including a first embodiment of a robotic system (10). The robotic system (10) of this embodiment includes a table system (12) operably connected to a surgical instrument (14) for diagnostic and / or therapeutic procedures during the treatment of a patient. Such procedures may include, but are not limited to, bronchoscopy, ureteroscopy, vascular procedures, and laparoscopic procedures. For this purpose, the surgical instrument (14) is configured for laparoscopic procedures, but it should be understood that any instrument for treating a patient may be used as well. At least a portion of the robotic system (10) can be constructed and made operable in accordance with at least some of the teachings of any of the various patents, patent application publications, and patent applications cited herein.

[0011] A. Example of a Table-Based Robotic System with an Annular Carriage As shown in FIG. 1, the robotic system (10) includes a table system (12) having a platform such as a table (16) with a plurality of carriages (18), which may also be referred to herein as "arm supports", each supporting the deployment of a plurality of robotic arms (20). The robotic system (10) further includes a support structure such as a pillar (22) for supporting the table (16) on the floor. The table (16) may also be configured to tilt to a desired angle during use, such as during a laparoscopic procedure. Each robotic arm (20) includes an instrument driver (24) configured to removably connect to a surgical instrument (14) for use and to manipulate the surgical instrument (14). In an alternative embodiment, the instrument driver (24) may be collectively positioned in a linear arrangement to support an instrument extending therebetween along a "virtual rail" that can be repositioned in space by operating one or more robotic arms (20) to one or more angles and / or positions. In practice, a C-arm (not shown) may be positioned over the patient to provide fluoroscopic imaging.

[0012] In this embodiment, the support column (22) includes, for use, a carriage (18) arranged in a ring shape to support one or more robotic arms (20) respectively. For example, in order to provide the robotic arm (20) with access to multiple sides of a table (16), such as both sides of a patient, when the carriage (18) is driven by a mechanical motor (not shown) positioned within the support column (22), it may translate along the support column (22) and / or rotate around the support column (22). The rotation and translation of the carriage (18) enable alignment of instruments, such as surgical instruments (14), to different access points on the patient. In an alternative example, as will be considered in more detail below, the robotic system (10) may include an operating table having an adjustable arm support including a laterally extending bar (26) (see FIG. 2). One or more robotic arms (20) may be attached to the carriage (18) (e.g., via a shoulder having an elbow joint). The robotic arm (20) is compactly stored under the table (16) and is vertically adjustable so as to be lifted during use.

[0013] The robotic system (10) may also include a tower (not shown) that divides the functionality of the robotic system (10) between the table (16) and the tower, reducing the form factor and bulk of the table (16). For this purpose, the tower may provide various support functions to the table (16), such as computing and control functions, power, fluidics, optical processing, and / or sensor data processing. The tower may also be movable so as to be positioned away from the patient to improve access for medical personnel and to organize the operating room. The tower may also include a master controller or console that provides both a user interface for operator input, such as a keyboard and / or pendant, and a display screen that includes a touch screen for preoperative and intraoperative information, including but not limited to real-time images, navigation, and tracking information. In some variations, the tower may include a gas tank used for ventilation. Examples of forms that may be taken by the tower and / or console will be described in more detail below with reference to FIGS. 8-10.

[0014] B. Example of a robotic system with a bar carriage Figures 2 to 4 show another embodiment of the robot system (28). The robot system (28) of this embodiment includes one or more adjustable arm supports (30) including a bar (26) configured to support one or more robot arms (32) relative to a table (34). In this embodiment, a single adjustable arm support (30) (Figs. 2 to 3) and a pair of adjustable arm supports (30) (Fig. 4) are shown, although additional arm supports (30) may be provided around the table (34). Each adjustable arm support (30) is configured to selectively move relative to the table (34) to change the position of the adjustable arm support (30) relative to the table (34) and / or any robot arm (32) attached thereto as desired. Such an adjustable arm support (30) can provide the robot system (28) with a high versatility including the ability to easily store one or more adjustable arm supports (30) together with the robot arms (32) under the table (34).

[0015] Each adjustable arm support (30) provides several degrees of freedom, including lift, lateral translation, tilt, etc. In the present embodiment shown in FIGS. 2 to 4, the arm support (30) is configured to have four degrees of freedom illustrated by arrows. Due to the first degree of freedom, the adjustable arm support (30) can move in the Z direction ("Z-lift"). For example, the adjustable arm support (30) includes a vertical carriage (36). The vertical carriage (36) is configured to move up and down along or relative to the support column (38) and the base (40), both of which support the table (34). The second degree of freedom allows the adjustable arm support (30) to tilt about an axis extending in the y direction. For example, the adjustable arm support (30) includes a rotary joint that enables the adjustable arm support (30) to be aligned with the table (34) when the table (34) is in the Trendelenburg position or other tilted positions. Due to the third degree of freedom, the adjustable arm support (30) can "pivot up" about an axis extending in the x direction, which may be useful for adjusting the distance between the side of the table (34) and the adjustable arm support (30). The fourth degree of freedom allows the adjustable arm support (30) to translate along the longitudinal length of the table (34) extending along the x direction. The base (40) and the support column (38) together support the table (34) relative to the support surface, which is shown along the support axis (42) above the floor axis (44) in the present embodiment. The present embodiment shows an adjustable arm support (30) attached to the support column (38), but the arm support (30) may alternatively be attached to the table (34) or the base (40).

[0016] As shown in this embodiment, the adjustable arm support (30) includes a vertical carriage (36), a bar connector (46), and a bar (26). For this purpose, the vertical carriage (36) is attached to the support column (38) by a first joint (48), and the first joint (48) enables the vertical carriage (36) to move relative to the support column (38) (e.g., up and down along a first vertical axis (50) extending in the z - direction). The first joint (48) provides a first degree of freedom ("Z - lift") to the adjustable arm support (30). The adjustable arm support (30) further includes a second joint (52) that provides a second degree of freedom (tilt) for the adjustable arm support (30) to pivot about a second axis (53) extending in the y - direction. The adjustable arm support (30) also includes a third joint (54) that provides a third degree of freedom (pivot - up) for the adjustable arm support (30) to rotate about a third axis (58) extending in the x - direction. Further, an additional joint (56) mechanically restrains the third joint (54) to maintain the desired orientation of the bar (26) when the bar connector (46) rotates about the third axis (58). The adjustable arm support (30) includes a fourth joint (60) for providing a fourth degree of freedom (translation) to the adjustable arm support (30) along a fourth axis (62) extending in the x - direction).

[0017] Figure 4 shows a variant form of the robot system (28) having two adjustable arm supports (30) attached to both sides of the table (34). The first robot arm (32) is attached to one of such bars (26) of the first adjustable arm support (30). This first robot arm (32) includes a connection portion (64) attached to the first bar (26). Similarly, the second robot arm (32) includes a connection portion (64) attached to the other bar (26). As shown in Figure 4, the vertical carriage (36) is separated by a first height (H1), and the bar (26) is disposed at a second height (H2) from the base (40). The first bar (26) is disposed at a first distance (D1) from the vertical axis (50), and the other bar (26) is disposed at a second distance (D2) from the vertical axis (50). The distal ends of the first robot arm and the second robot arm (32) each include an instrument driver (66), and the instrument driver (66) is configured to be attached to one or more instruments as will be considered in more detail below.

[0018] In some variant forms, one or more of the robot arms (32) have seven or more degrees of freedom. In some other variant forms, one or more of the robot arms (32) include 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 connection portion (64) (one degree of freedom including translation). In some variant forms, the insertion degree of freedom is provided by the robot arm (32), and in some other variant forms, an instrument such as a surgical instrument includes an insertion architecture of the instrument base.

[0019] FIG. 5 shows in more detail an example of the instrument driver (66) with the surgical instrument (14) removed. Considering the insertion architecture of this instrument base shown with reference to the surgical instrument (14), the instrument driver (66) further includes a clearance bore (67) that extends completely through the instrument driver (66) so as to movably receive a portion of the surgical instrument (14), as will be discussed in more detail below. The instrument driver (66) may also be referred to herein as an "instrument drive mechanism", an "instrument device manipulator", or an "advanced device manipulator" (ADM). The instrument may be configured to be removed from, removed, and replaced from the instrument driver (66) for individual sterilization or disposal by a healthcare provider or associated staff. In some scenarios, the instrument driver (66) may be draped for protection and thus may not need to be changed or sterilized.

[0020] Each instrument driver (66) operates independently of the other instrument drivers (66) and includes a plurality of rotational drive output portions (68), such as four drive output portions (68), which are driven similarly independently of each other to direct the operation of the surgical instrument (14). The instrument driver (66) and the surgical instrument (14) of this embodiment are aligned such that the axis of each drive output portion (68) is parallel to the axis of the surgical instrument (14). In use, a control circuit (not shown) receives a control signal, transmits a motor signal to a desired motor (not shown), compares the motor speed resulting as a measurement by each respective encoder (not shown) with the desired speed, and modulates the motor signal to generate a desired torque at one or more of the drive output portions (68).

[0021] In this embodiment, the instrument driver (66) is circular, and each drive output portion (68) is housed within a rotary assembly (70). In response to torque, the rotary assembly (70) rotates along a circular bearing (not shown) that connects the rotary assembly (70) to the non-rotating portion (72) of the instrument driver (66). Power and control signals may be transmitted from the non-rotating portion (72) of the instrument driver (66) to the rotary assembly (70) via an electrical contact therebetween, such as a brush slip ring connection (not shown). In one embodiment, the rotary assembly (70) may respond to a separate drive output portion (not shown) integrated into the non-rotatable portion (72) and, thus, is not in parallel with the other drive output portions (68). In any case, the rotary assembly (70) enables the instrument driver (66) to rotate the rotary assembly (70) and the drive output portions (68) together with the surgical instrument (14) about the instrument driver axis (74) as a single unit.

[0022] C. Example of a Surgical Instrument Having an Instrument Base Insertion Architecture Figures 5-6B show a surgical instrument (14) having an instrument-based insertion architecture as discussed above. The surgical instrument (14) includes an elongated shaft assembly (82), an end effector (84) connected to the shaft assembly (82) and extending distally therefrom, and an instrument base (76) coupled to the shaft assembly (82). Insertion of the shaft assembly (82) is based on the instrument base (76) such that the end effector (84) is configured to move selectively longitudinally from a retracted position (Figure 6A) to an extended position (Figure 6B), and vice versa, and to any desired longitudinal position therebetween. As used herein, the retracted position is shown in Figure 6A and positions the end effector (84) relatively close and proximal to the instrument base (76). On the other hand, the extended position is shown in Figure 6B and positions the end effector (84) relatively far distally from the instrument base (76). Thus, insertion and withdrawal of the end effector (84) with respect to the patient can be facilitated by the surgical instrument (14), although it will be appreciated that such insertion and withdrawal can be performed via an adjustable arm support (30) in one or more embodiments.

[0023] As shown in FIGS. 5 - 6B, in cooperation with the instrument driver (66) discussed above, the surgical instrument (14) respectively includes an elongated shaft assembly (82) and an instrument base (76) having a mounting interface (78) with a plurality of drive input portions (80) configured to couple with a corresponding drive output portion (68). The shaft assembly (82) of the instrument (14) extends from the center of the instrument base (76) having an axis substantially parallel to the axis of the drive input portion (80), as briefly discussed above. With the shaft assembly (82) positioned at the center of the instrument base (76), the shaft assembly (82) is coaxial with the instrument driver axis (74) when attached and movably received within the clearance bore (67). Thus, rotation of the rotation assembly (70) rotates the shaft assembly (82) of the surgical instrument (14) about its own longitudinal axis, while the clearance bore (67) provides space for the translation of the shaft assembly (82) during use.

[0024] The foregoing embodiments of the surgical instrument (14) and the instrument driver (66) are merely illustrative examples. The robotic arm (32) may interface with different types of instruments in any other suitable manner using any other suitable type of interface feature. Similarly, different types of instruments may be used with the robotic arm (32), and such alternative instruments may be configured and operable differently from the surgical instrument (14).

[0025] D. Examples of Clip Applier End Effectors Figures 7A - 7C show an example of an end effector (100) representing a form that can be taken by an end effector (84) of a surgical instrument (14). The end effector (100) of this example includes a pair of jaws (110, 120) connected together by a pivot (130). Each jaw (110, 120) includes respective distal ends (112, 122) that move towards each other or away from each other based on the closed state of the end effector (84). Each distal end (112, 122) includes respective distal engagement mechanisms (116, 126). In this example, each distal engagement mechanism (116, 126) is in the form of a notch configured to receive respective pins (158, 160) of a ligation clip (150).

[0026] An example of a ligation clip (150) is shown in Figure 7C. As shown, the ligation clip (150) of this example includes a pair of arms (152, 154) joined together at a proximal hinge (156). The pins (158, 160) are in the distal regions of the arms (152, 154), such that the jaws (110, 120) are operable to drive the ligation clip (150) from an open state (not shown) to a closed state (Figure 7C) by biasing the pins (158, 160) towards each other. In some variations, the ligation clip (150) includes a latch mechanism configured to maintain the ligation clip (150) in a closed state when the ligation clip (150) reaches the closed state. In addition to or instead of that, the ligation clip (150) may include one or more malleability mechanisms configured to maintain the ligation clip (150) in a fully closed state. In some such variations, the one or more malleability mechanisms are also configured to maintain the ligation clip (150) in a fully open state and / or a partially closed state until sufficient force is applied to the ligation clip (150) to overcome the malleability.

[0027] The end effector (100) further includes an actuator (132) operable to drive the jaws (110, 120) to transition between a fully open state (FIG. 7A) and a fully closed state (FIG. 7C). The actuator (132) is positioned at the proximal ends (114, 124) of the jaws (110, 120). By way of example only, the actuator (132) and the jaws (110, 124) may include complementary cam mechanisms configured to drive a pivotal movement of the jaws (110, 120) about a pivot (130) as the actuator (132) moves relative to the jaws (110, 120). By way of further example only, such a driving movement of the actuator (132) relative to the jaws (110, 120) may include rotational movement, linear movement, and / or other types of movement. To enable the actuator (132) to ultimately be driven by the tool drivers (24, 66) of the robotic arms (20, 32), the actuator (132) may include one or more components operably coupled to one or more corresponding components within the tool base (76) and the shaft assembly (82).

[0028] FIG. 7A shows the end effector (84) in a fully open state, where the distal engagement mechanisms (116, 126) are separated from each other by a first distance (D1), and the jaws (110, 120) cooperate to define a first angle (Θ1), the apex of the first angle (Θ1) being proximal to the pivot (130). In this embodiment, when the end effector (84) is in the fully open state and the ligating clip (150) is disposed within the end effector (84), the arms (152, 154) of the ligating clip (150) have sufficient separation to receive a tissue structure (e.g., a blood vessel, etc.) therebetween. In some scenarios, the arms (152, 154) of the ligating clip (150) may still have sufficient separation to receive a tissue structure (e.g., a blood vessel, etc.) therebetween even when the end effector (84) is in a partially closed state.

[0029] FIG. 7B shows the end effector (84) in a partially closed state, where the distal engagement mechanisms (116, 126) are separated from each other by a second distance (D2), the jaws (110, 120) cooperate to define a second angle (Θ2), and the apex of the second angle (Θ2) is proximal to the pivot (130). The second distance (D2) is shorter than the first distance (D1). In the embodiment shown in FIG. 7B, the second angle (Θ2) is approximately 0 degrees, and thus the jaws (110, 120) are parallel to each other. Alternatively, the jaws (110, 120) may cooperate to define various other non-zero angles in different partially closed states. In some scenarios, the arms (152, 154) of the ligation clip (150) may still have sufficient separation to receive a tissue structure (e.g., a blood vessel, etc.) between the arms (152, 154) when the end effector (84) is in the partially closed state shown in FIG. 7B.

[0030] FIG. 7C shows the end effector (84) in a fully closed state, where the distal engagement mechanisms (116, 126) are separated from each other by a third distance (D3), the jaws (110, 120) cooperate to define an angle (φ), and the apex of the angle (φ) is positioned distal to the distal ends (112, 122). In this embodiment, when the end effector (84) is in the fully closed state, the ligation clip (150) is also in the fully closed state. In some variations, after the end effector (84) reaches the fully closed state shown in FIG. 7C, the actuator (132) may continue to drive the distal ends (112, 122) towards each other, thereby increasing the closing pressure on the ligation clip (150). This increasing closing pressure on the ligation clip (150) may then increase the clamping pressure of the ligation clip (150) on the tissue disposed between the arms (152, 154) of the ligation clip (150).

[0031] II. Examples of User Interface Mechanisms As described above, the robotic system (10, 28) can include a tower and / or a console having components operable to control the operation of the carriage (18), the arm support (30), the bar (26), the robotic arms (20, 32), the tables (16, 34), the instrument drivers (24, 66), the surgical instrument (14), and / or other components of the robotic system (10, 28). FIG. 8 shows an example of such a joystick (200). The console (200) of this example includes a base (202) and an upright member (204) extending from the base (202). The viewing assembly (210) is supported by the upright member (204) at a position where an operator can position his or her eyes at the viewing window (212) of the upright member (204). The viewing assembly (210) can present a screen to the operator through the viewing window (212), and the screen displays an image as will be described in more detail below with reference to FIG. 10.

[0032] The console (200) also includes an armrest (206) and a pair of user input unit assemblies (220) positioned near the armrest (206), so that an operator can place his or her arm on the armrest (206) while manually operating the user input unit assemblies (220). Each user input unit assembly (220) is connected to the upright member (204) via an arm assembly (230) formed by a plurality of arm segments (232, 234, 236, 238) pivotally connected to each other such that the user input unit assembly (220) can move substantially freely relative to the upright member (204). In some variations, the movement of the user input unit assembly (220) relative to the upright member (204) provides a corresponding movement of one or more of the robotic arms (20, 32) and / or a particular mechanism of the robotic arms (20, 32). In addition, the movement or other actuation of a particular component of the user input unit assembly (220) can provide a corresponding movement or actuation of a mechanism of the instrument (14). Examples of such components of the user input unit assembly (220) and examples of the corresponding movement or actuation of the mechanism of the instrument (14) are described in more detail below with reference to FIGS. 9A-9B.

[0033] The console (200) of this embodiment further includes a pedal board (240) at the front of the base (202). The pedal board (240) includes a plurality of pedals (242) that can be operated by the operator's foot. In some variations, one or more of the pedals (242) include foot-operated switches that are operable to toggle between different states. For example, some such variations of the pedals (242) may be operable to selectively activate or deactivate the operating state of the robot system (10, 28). Similarly, some variations of the pedals (242) may be operable to toggle between various operating modes of the robot system (10, 28). Some variations of the pedals (242) may also be operable to selectively activate or deactivate components of the instrument (14). In addition to, or as an alternative to, one or more of the pedals (242) that include foot-operated switches, one or more of the pedals (242) may provide variable control instead of simple on / off / toggle type control. Alternatively, the pedals (242) can have any other suitable form and / or function as will be apparent to those skilled in the art in view of the teachings herein.

[0034] As also shown in FIG. 8, the console (200) may be coupled to a tower (250) schematically shown in FIG. 8. The tower (250) may provide an interface between the console (200) and the remainder of the robotic system (10, 28). For example, the tower (250) may include a processor (252) configured to receive control inputs received via the user input unit assembly (220) and the pedal board (240) and convert such inputs into operations of corresponding components of the robotic system (10, 28) and the instrument (14). For example, the processor (252) may convert a user input signal into a power drive signal. The processor (252) may also be operable to drive a display of a screen visible to an operator via the viewing window (212) of the observation assembly (210). In view of the teachings herein, those skilled in the art will appreciate the various components and functions that may be incorporated into the tower (250). In some variations, the components and functions that may be incorporated into the tower (250) may be incorporated directly into the console (200) and / or elsewhere, and thus the tower (250) need not necessarily be provided as a separate component between the console (200) and the remainder of the robotic system (10, 28). For example, the processor (252) may be incorporated into the console (200), the instrument (14), the table system (12), etc.

[0035] Figures 9A-9B show the manual user input portion assembly (220) in more detail. As shown, the manual user input portion assembly (220) of this embodiment includes a plug (222) configured to be inserted into a corresponding socket (not shown) of the arm assembly (230). Some variations of the arm assembly (230) may be configured to removably receive different types of user input mechanisms, and thus, the user input portion assembly (220) shown in Figures 9A-9B represents only one of many possible different module configurations. The user input portion assembly (220) of this embodiment further includes a plurality of actuating arms (224). The distal ends of the actuating arms (224) are pivotally coupled to a central shaft (228) of the user input portion assembly (220) via a hub (226). In this configuration, an operator can grip the actuating arms (224) with the operator's fingertips and thereby bias the actuating arms (224) from a first position (Figure 9A) to a second position (Figure 9B). In some variations, the actuating arms (224) include one or more elastic members (e.g., leaf springs, torsion springs, etc.) that can elastically bias the actuating arms (224) toward the first position (Figure 9A), such that when the operator releases the grip on the actuating arms (224) after reaching the second position (Figure 9B) (or after reaching some intermediate position between the first and second positions), the actuating arms (224) elastically return to the first position (Figure 9A).

[0036] When the actuating arm (224) transitions from the first position (FIG. 9A) to the second position (FIG. 9B), the user input portion assembly (220) generates an actuating signal. In some variations, this actuating signal is generated over the entire range of movement of the transition of the actuating arm (224) from the first position (FIG. 9A) to the second position (FIG. 9B), and the characteristics (e.g., amplitude, etc.) of the actuating signal change based on the extent to which the actuating arm (224) has transitioned from the first position (FIG. 9A) to the second position (FIG. 9B). In some other variations, the actuating signal is not generated until the actuating arm reaches the second position (FIG. 9B). In either case, the actuating signal generated by the user input portion assembly (220) may be transmitted to the processor (252), and the processor may, in accordance with the teachings herein, convert the actuating signal from the user input portion assembly (220) into a drive power drive signal that drives an end effector (100) or the like in response to the actuating signal from the user input portion assembly (220). Merely as a further example, the user input portion assembly (220) is configured and operable in accordance with at least a portion of the teachings of U.S. Patent Application Publication No. 2021 / 0298857, titled "Hand-Manipulated Input Device with Hall Effect Sensor for Robotic System" (published September 30, 2021), the entire disclosure of which is incorporated herein by reference.

[0037] In view of the above, when the operator actuates the user input portion assembly (220) by driving the actuating arm (224) from the first position (FIG. 9A) toward the second position (FIG. 9B), such actuation may provide corresponding operation of one or more components of the instrument (14). For example, in some variations where the instrument (14) includes an end effector such as the end effector (100) of FIGS. 7A-7C, the jaws (110, 120) can close in proportion to the extent that the actuating arm (224) transitions from the first position (FIG. 9A) to the second position (FIG. 9B). As a further example, as shown in FIG. 9A, when the actuating arm (224) is in the first position, the jaws (110, 120) may be in a fully open state as shown in FIG. 7A. As shown in FIG. 9B, when the actuating arm (224) is in the second position, the jaws (110, 120) may be in a fully closed state as shown in FIG. 7C. When the actuating arm (224) is in an intermediate position (not shown) between the first position (FIG. 9A) and the second position (FIG. 9B), the jaws (110, 120) may be in a partially closed state (e.g., as shown in FIG. 7B, or somewhere else between the fully open state shown in FIG. 7A and the fully closed state shown in FIG. 7C). Thus, the user input mechanism (220) can provide an intuitive control experience for the operator, and the pivotal movement of the jaws (110, 120) will somewhat mimic the pivotal movement of the actuating arm (224).

[0038] The user input portion assembly (220) of the present embodiment further includes a circular flange (229) fixedly attached to the shaft (228). In some variations, the operator may grip the user input portion assembly (220) via the flange (229) or hub (226) and move the entire user input portion assembly (220) within the three-dimensional space, and the joints between the segments (232, 234, 236, 238) of the arm assembly (230) correspond to such movement of the entire user input portion assembly (220) within the three-dimensional space. In some variations, when the entire user input portion assembly (220) moves within the three-dimensional space and causes movement of one or more segments (232, 234, 236, 238) of the arm assembly (230), this movement of one or more segments (232, 234, 236, 238) of the arm assembly (230) may provide corresponding movement of one or more robotic arms (20, 32). In some such variations, the user input portion assembly (220) is operable to drive the movement of components of the surgical instrument (14) via the instrument driver (66) only when the segments (232, 234, 236, 238) of the arm assembly (230) remain stationary. In yet other variations, at least a portion of the user input portion assembly (220) is further operable to cause movement of one or more robotic arms (20, 32) even when the segments (232, 234, 236, 238) of the arm assembly (230) remain stationary. As another variation, some or all of the segments (232, 234, 236, 238) of the arm assembly (230) may be omitted.

[0039] Once the operator has achieved the desired positioning and orientation of the one or more robotic arms (20, 32), the operator can shift the engagement of the user input portion assembly (220) from the circular flange (229) or hub (226) to the actuating arm (224), thereby controlling the instrument (14) as described above. In some variations, one or more of the pedals (242) may be operable to trigger an electrical lockout of the arm assembly (230), thereby preventing further movement of the robotic arms (20, 32) in response to subsequent movement of the arm assembly (230). In other words, after the electrical lockout pedal (242) has been actuated, the operator can still move the arm assembly (230) (e.g., to provide ergonomic comfort), but such movement of the arm assembly (230) will not result in corresponding movement of the robotic arms (20, 32).

[0040] FIG. 10 shows an example of a display (300) that can be rendered via the observation assembly (210) of the console (200). As shown, the display (300) of this example includes a real-time endoscopic view of an end effector (310) with respect to an anatomical structure (AS). The end effector (310) is at the distal end of each instrument (14) coupled to each robotic arm (20, 32). The display (300) further includes a graphic representation (320) of a pedal board (240) including a graphic representation (322) of a pedal (242). The graphic representation (320) is overlaid at the lower corner of the real-time endoscopic image in this example, but the graphic representation (320) may alternatively be positioned in any other suitable location. The graphic representation (320) may be used to display the real-time state of the pedal (242). For example, when the operator actuates the pedal (242) with a foot, the corresponding graphic representation (322) of that pedal (242) may light up, change color, or provide some other form of visual feedback to indicate such actuation of the pedal (242). In some variations, the graphic representation (322) may remain illuminated and in a changed color for the duration that the operator keeps the corresponding pedal (242) depressed. In some other variations, such as where the pedal (242) is used to toggle between two or more operating states, the operator may simply tap the pedal (242) to toggle the operating state, and the corresponding graphic representation (322) may remain lit or in a changed color to indicate the toggled state even if the operator is no longer depressing the pedal (242). In some variations, the graphic representation (320) is omitted. In some variations where the graphic representation (320) is omitted, indicators (330, 332, 334, 340, 350, 352, 356) can effectively convey information of the type described above in relation to the graphic representation (320).

[0041] The display (300) of this embodiment further includes an array of indicators (330, 332, 334, 340, 350, 352, 356) adjacent to the graphic representation (320) of the pedal board (240). The indicators (330, 332, 334, 340, 350, 352, 356) are overlaid along the bottom of the real-time endoscope image in this embodiment, but the indicators (330, 332, 334, 340, 350, 352, 356) may alternatively be positioned at any other suitable location. In this embodiment, each indicator (330, 332, 334, 340, 350, 352, 356) is associated with a corresponding robotic arm (20, 32). For example, each indicator (330, 332, 334, 340, 350, 352, 356) may include text or a graphic representation indicating the type of instrument (14) fixed to the corresponding robotic arm (20, 32). Additionally, as long as the operator can select via the console (200) which robotic arm (20, 32) can be controlled via each user input unit assembly (220), the indicators (330, 332, 334, 340, 350, 352, 356) can provide some form of visual indication as to which robotic arm (20, 32) is being controlled via one or more corresponding user input unit assemblies (220).

[0042] Indicators (330, 332, 334, 340, 350, 352, 356) may also provide a visual indication of the operating state of the corresponding instrument (14). For example, if one indicator (330, 332, 334, 340, 350, 352, 356) is associated with an electrosurgical instrument that can toggle between a cutting mode and a coagulation mode, that indicator (330, 332, 334, 340, 350, 352, 356) may visually indicate whether the electrosurgical instrument is in the cutting mode or the coagulation mode. In some such variations, the operating states may be stacked (e.g., from top to bottom) corresponding to appropriate pedals (242) on the pedal board (240). For example, a particular set of pedals (242) may be operable to select the operating state of the instrument (14). When one of the pedals (242) (e.g., the left pedal (242)) is pressed, the instrument (14) under the control of one of the user input unit assemblies (220) (e.g., the left user input unit assembly (220)) can be operated in an executable state represented by a corresponding tab (not shown) of the user interface and in the lowest executable state as indicated via a corresponding one of the indicators (330, 332, 334, 340, 350, 352, 356). Further as a mere example, the display (300) may be configured and operable in accordance with at least a portion of the teachings of U.S. Patent Application Publication No. 2021 / 0401527, titled "Robotic Medical Systems Including User Interfaces with Graphical Representations of User Input Devices" (published on December 30, 2021), the entire disclosure of which is incorporated herein by reference.

[0043] III. EXAMPLE OF MODE SELECTION OF CLIP APPLIER In some scenarios, the operator may partially or fully operate one or more of the actuating arms (224). For example, the operator may operate one or more of the actuating arms (224) while moving the entire user input unit assembly (220) to relocate and / or reorient the corresponding robotic arm (20, 32). Such operation of the actuating arms (224) may be intentional or unintentional. Such operation of the actuating arms (224) may result in full or partial actuation of the end effector (84). In a scenario where the end effector (84) is a clip application end effector such as the end effector (100) of FIGS. 7A-7C and the ligating clip (150) is disposed within the end effector (100), full or partial actuation of the end effector (100) may result in corresponding full or partial closure of the ligating clip (150).

[0044] While the end effector (100) is on its way towards the target anatomical structure, if the end effector (100) is fully actuated (e.g., reaches the fully closed state shown in FIG. 7C), the actuation of the end effector (100) may cause complete closure of the ligation clip (150), and the latch mechanism of the ligation clip (150) may maintain the ligation clip (150) in the closed state. This closure of the ligation clip (150) may be an unintended result due to the intentional or unintentional operation of the actuation arm (224) before the end effector (100) reaches the target anatomical structure, and thus, the ligation clip (150) may reach the closed state prematurely. When the end effector (100) reaches the target anatomical structure and the operator releases the end effector (100) to position the end effector (100) around the target anatomical structure, the prematurely closed and locked ligation clip (150) may fall from the end effector (100), and thus the end effector (100) may no longer have the ligation clip (150) for application to the target anatomical structure. Similarly, in some scenarios where the ligation clip (150) has a malleability mechanism, a ratchet mechanism, or any other mechanism that can maintain the ligation clip (150) in a partially closed state, undesirable results may be realized. In such scenarios, while the end effector (100) is on its way towards the target anatomical structure, if the end effector (100) is partially actuated (e.g., reaches a partially closed state shown in FIG. 7B, or any other state of partial closure between the fully open state of FIG. 7A and the fully closed state of FIG. 7C), the partial actuation of the end effector (100) may cause partial closure of the ligation clip (150). The malleability mechanism, ratchet mechanism, or other mechanism of the ligation clip (150) can maintain the ligation clip (150) in the partially closed state.When the end effector (100) reaches the target anatomical structure and the operator releases the end effector (100) to position the end effector (100) around the target anatomical structure, the prematurely partially closed ligation clip (150) may fall from the end effector (100), and thus the end effector (100) will no longer have the ligation clip (150) for application to the target anatomical structure.

[0045] In view of the above, it may be desirable to provide a mechanism that prevents the end effector (100) from closing the jaws (110, 120) until the ligation clip (150) undesirably reaches the fully closed state (or a particular state of partial closure). Examples of how such a function can be provided in connection with a robotic surgical system (10, 28) are presented below. The embodiments described herein relate to an end effector (100) and a ligation clip (150) as shown in FIGS. 7A-7C, but the following teachings can be readily applied to various other types of end effectors and ligation clips. Further, the following teachings can be readily applied to other types of end effectors that do not necessarily apply ligation clips (e.g., other end effectors where premature full or partial actuation of the end effector is undesirable). Similarly, the embodiments described herein relate to a user input portion assembly (220) as shown in FIGS. 8 and 9A-9B, but the following teachings can be readily applied to various other types of user input mechanisms.

[0046] To avoid premature complete (and in some cases partial) closure of the ligation clip (150), a control module of a robotic system (10, 28), such as a processor (252), may provide a selection between two different modes, including a safety mode and a firing mode. While in the safety mode, the control module (e.g., such as the processor (252)) may completely prevent the operation of the actuating arm (224) from causing any degree of closure of the jaws (110, 120). In other words, while the control module is in the safety mode, the jaws (110, 120) need not respond to any operation of the actuating arm (224). In some other variations, while in the safety mode, the control module may allow some degree of closure of the jaws (110, 120) in response to the operation of the actuating arm (224), but still limit the closure angle (Θ) that can be achieved by the jaws (110, 120). In other words, if the operator inadvertently or intentionally operates the actuating arm (224) while in the safety mode, the jaws (110, 120) may close to a limited closure angle (tilt) in response, but cannot close further beyond that angle (Θ), even if the operator fully operates the actuating arm (224). In some cases, the operator may wish to partially close the jaws (110, 120) in order to facilitate movement of the end effector (100) (e.g., through a narrow anatomical space) without completely closing the ligation clip (150), or for other reasons. Thus, some variations may allow the operator to achieve such an intentional partial closure of the jaws (110, 120) to a limited closure angle (Θ). While in the firing mode, the control module may allow the jaws (110, 120) to reach a fully closed state such that the closure angle (Θ) of the jaws (110, 120) is not restricted in the firing mode.

[0047] Figure 11 shows a graph (400) having two plots (402, 404). Plot (402) is shown in solid line format and plot (404) is shown in dashed line format. Plot (402) represents an example of the relationship between the state of the jaws (110, 120) (y-axis) and the state of the actuating arm (224) (x-axis) in the safety mode. Plot (402) begins with the jaws (110, 120) fully open and the actuating arm (224) not being operated. As can be seen from the figure, plot (402) includes an inflection point (416) that interrupts the further operation of the actuating arm (224) from causing further closure of the jaws (110, 120). In other words, if the operator operates the actuating arm (224) (e.g., inadvertently), the jaws (110, 120) will partially close until the state of the jaws (110, 120) reaches the inflection point (416). The inflection point (416) is located at the intersection of the lines (410, 412). Line (410) represents the maximum allowable value at which the jaws (110, 120) can be partially closed. As just one example, this maximum allowable of partial closure of the jaws (110, 120) may be about 50%, which may be associated with a closure angle (Θ) of about 60 degrees, a closure angle (Θ) of about 90 degrees, or some other predetermined allowable closure angle (Θ).

[0048] In a deformable form where the jaws (110, 120) are allowed to close to a predetermined closure angle (Θ), this predetermined allowable closure angle (Θ) may be selected based on the characteristics of the ligation clip (150). For example, the ligation clip (150) may be configured such that the ligation clip (150) does not plastically deform before the jaws (110, 120) reach the predetermined allowable closure angle (Θ), but the ligation clip (150) plastically deforms after the jaws (110, 120) exceed the predetermined allowable closure angle (Θ). Any other suitable criteria can be used to select the predetermined allowable closure angle (Θ) for the safety mode.

[0049] In a scenario where Joe (110, 120) is prevented from fully closing in the safe mode, the maximum allowable degree of partial closure of Joe (110, 120) is 0%, which is associated with the first angle (Θ1) described above with reference to FIG. 7A. Alternatively, any other suitable closing angle (Θ) may be used to provide any other suitable maximum allowable degree of partial closure of Joe (110, 120). The line (412) represents the degree to which the operating arm (224) is operated when Joe (110, 120) reaches the maximum allowable closure degree (410) in the safe mode.

[0050] Plot (404) represents an example of the relationship between the state of the jaws (110, 120) (y-axis) and the state of the actuating arm (224) (x-axis) in the firing mode. Plot (404) also starts with the jaws (110, 120) being fully open and the actuating arm (224) not being operated. As can be seen from Plot (404), when in the firing mode, if the operator operates the actuating arm (224), the jaws (110, 120) can proceed past the inflection point (416) associated with Plot (402) and continue towards full closure. In this example, line (414) indicates the point at which the jaws (110, 120) reach full closure before the actuating arm (224) reaches its fully-operated state. In other words, when the actuating arm (224) reaches a particular partial-operated degree, the actuating arm (224) reaches the fully-closed state, and this particular partial-operated degree is indicated by line (414). As an example only, this particular partial-operated degree may be about 90%. As long as the operator continues to operate the actuating arm (224) beyond this particular partial-operated degree associated with line (414) and the full closure of the jaws (110, 120), this further operation of the actuating arm (224) can provide an increasing clamping force through the closed jaws (110, 120). Bracket (420) indicates this range of further operation of the actuating arm (224) that is associated with providing an increasing clamping force through the closed jaws (110, 120). In some variations, the user input assembly (220) includes a detent mechanism and / or other mechanisms, and the detent mechanism and / or other mechanisms provide tactile and / or audible feedback indicating when the actuating arm (224) reaches the partial-operated degree associated with line (414) and the full closure of the jaws (110, 120). Such feedback mechanisms are optional and thus can be omitted.

[0051] In some variations, the operator may manually toggle between a safety mode and a firing mode. Such mode toggling can be achieved via a pedal (242) on a pedal board (240). In some other variations, a control module (e.g., a processor (252), etc.) may automatically toggle between a safety mode and a firing mode, as will be described in more detail below in connection with FIG. 12. In variations where the mode is manually toggled via the pedal (242), the display (300) may indicate the actuation of the safety / firing mode toggle pedal (242) via a corresponding graphic representation (322). In some variations where the mode is manually toggled via the pedal (242), the operator may simply tap the pedal (242) to toggle between modes. As another variation, the operator may need to depress the pedal (242) for a specific period (e.g., 3 seconds, etc.) to toggle the mode. In some other variations where the mode is manually toggled via the pedal (242), the control module remains in the safety mode by default (i.e., when the operator is not operating the foot pedal (242)), and may then switch to the firing mode while the operator is operating the foot pedal (242). When the operator releases the pedal (242), the control module may automatically switch back to the safety mode. Instead of switching between modes via the pedal (242), the operator may operate a touch screen or other user input mechanism to switch between the safety mode and the firing mode. Some variations may also enable the operator to define whether the control module should be in the safety mode by default, in the firing mode by default, or in some other mode by default. Similarly, some variations may enable the operator to define whether the control module should toggle between the safety mode and the firing mode in response to the actuation of the pedal (242), in response to a touch screen or other user input mechanism, or in response to some other condition.

[0052] In addition to, or alternatively to, whether the safety mode and the firing mode are toggled manually or automatically, the safety / firing mode state may be indicated via one or more of the indicators (330, 332, 334, 340, 350, 352, 356) (e.g., via the indicators (330, 332, 334, 340, 350, 352, 356) representing the instrument (14) having the end effector (100)). In addition to, or alternatively to, here too, whether the safety mode and the firing mode are toggled manually or automatically, the display (300) may provide some form of visual feedback indicating whether the safety mode is on or the firing mode is on.

[0053] FIG. 12 shows a workflow that can be executed via a control module (e.g., a processor (252), etc.) to provide an automated version of the safety mode. As shown in block (500), the processor (252) can first receive a user input to close the jaws (110, 120). This user input can be provided in the form of an intentional or inadvertent operation of one or more of the actuating arms (224). After receiving this user input, the control module may determine, as shown in block (502), whether the end effector (100) is sufficiently close to the target anatomical structure. This can be performed based on signals from one or more position sensors within the end effector (100), based on signals from one or more position sensors within another part of the instrument (14), based on signals from one or more position sensors within other components of the instrument drivers (24, 66) and / or the robotic arms (20, 32), based on the tracked kinematics associated with the movement of the robotic arms (20, 32), and / or based on any other data source. If the control module determines that the end effector (100) is not sufficiently close to the target anatomical structure, the control module may automatically provide the safety mode so that the closing of the jaws (110, 120) is prevented or at least restricted despite the operation of one or more of the actuating arms (224), as shown in block (504). If the control module determines that the end effector (100) is sufficiently close to the target anatomical structure, the control module may enable the full closing of the jaws (110, 120) in response to the operation of one or more of the actuating arms (224), as shown in block (506).

[0054] As another variant, the process shown in FIG. 12 may be executed when the operator presses a pedal (242) associated with the transition from the safety mode to the firing mode. In such a variant, the control module may remain in the safety mode regardless of the position of the end effector (100) in the three-dimensional space when one or more of the actuating arms (224) are operated. As a result, the process shown in FIG. 12 is not even triggered unless and until the operator presses the pedal (242) associated with the transition from the safety mode to the firing mode. In some such variants, the process shown in FIG. 12 is executed only while the operator maintains the operation of the corresponding pedal (242). Thus, the control module can provide a manual and automatic hybrid for transitioning from the safety mode to the firing mode.

[0055] In some scenarios where the pedal (242) must be depressed in order to transition from the safety mode to the launch mode, the operator may at least partially operate one or more of the activation arms (224) while the pedal (242) is in the inoperative state, and then the operator may operate the pedal (242) while one or more of the activation arms (224) are at least partially operated. In some such scenarios, the control module may prevent such an operation of the pedal (242) from causing a transition to the launch mode. In other words, the control module may require that the operator release the activation arm (224) and then re - operate the activation arm (224) while the pedal (242) is being operated in order to achieve closure of the complete jaws (110, 120) in the launch mode. This can prevent closure of the jaws (110, 120) in response to an operation of the pedal (242), such that the jaws (110, 120) close only in response to a "new" operation of the activation arm (224). However, this approach is only one option, and in other variations, it may not be necessary for the activation arm (224) to be fully released if the pedal (242) is depressed only after the activation arm (224) has been at least partially operated. For example, in some scenarios, if the operator operates the pedal (242) while the activation arm (224) is partially operated but before the activation arm (224) reaches the inflection point (416), the control module may allow such an operation of the pedal (242) to cause a transition from the safety mode to the launch mode. However, this is the case where the activation arm (224) has passed the inflection point (416) by the time.

[0056] After Joe (110, 120) is fully closed, the ligation clip (150) is fully closed and deployed in the target anatomical structure, and Joe (110, 120) can be reopened and removed from the target anatomical structure. The control module may remain in the firing mode until Joe (110, 120) reaches a specific opening degree. In some scenarios, this specific opening degree may be the same as the state associated with the line (410) shown in FIG. 11 and described above. When Joe (110, 120) reaches this specific opening degree, the control module can automatically toggle back to the safe mode. Alternatively, any other suitable algorithm may be applied after Joe (110, 120) is fully closed, the ligation clip (150) is fully closed and deployed in the target anatomical structure.

[0057] In view of the above, the safe mode can provide an effective lockout to prevent premature closure of the ligation clip (150), but in some cases, partial closure of the ligation clip (150) may be allowed in the safe mode. Such prevention of premature closure of the ligation clip (150) can prevent the ligation clip (150) from undesirably falling off the end effector (100) before the end effector (100) reaches the target anatomical structure. Similarly, preventing premature closure of the ligation clip (150) in this way can avoid scenarios where the ligation clip (150) cannot fully encompass the target anatomical structure, even if the ligation clip (150) remains within the end effector during the entire range of movement to the target anatomical structure.

[0058] IV. Example of combination The following examples relate to various non-exhaustive ways in which the teachings of this specification may be combined or applied. It should be understood that the following examples are not intended to limit the scope of any "claims" that may be presented at any time in this application or in a subsequent application of this application. No waiver of any rights is intended. The following examples are provided for illustrative purposes only. It is contemplated that the various teachings of this specification may be configured and applied in many other ways. In some variations, it is also contemplated that certain features mentioned in the following examples may be omitted. Accordingly, none of the aspects or features mentioned below should be considered important unless so explicitly indicated later by the inventors or their successors in interest. If the "claims" presented in this application or in a subsequent application related to this application include additional features other than those mentioned below, those additional features should not be considered to have been added for any reason related to patentability.

Example

[0059] An assembly comprising: (a) an instrument comprising: (i) a shaft assembly; and (ii) an end effector at a distal end of the shaft assembly, the end effector being operable to transition between a fully open configuration and a fully closed configuration; (b) a first user input operable to generate an actuation signal; and (c) a control module in communication with the instrument, the control module further in communication with the first user input, the control module being configured to transition between a safe operation mode and a firing operation mode, wherein: (i) in the safe operation mode, the control module is configured to prevent or limit closure of the end effector; and (ii) in the firing operation mode, the control module is configured to generate a power drive signal that drives the end effector to close to the fully closed configuration.

Example

[0060] The end effector is configured to receive a clip, and the end effector is operable to drive the closing of the clip when the end effector transitions from a fully open configuration to a fully closed configuration, the apparatus according to Example 1.

Example

[0061] The apparatus further comprises a clip, the clip is received within the end effector, and the end effector is operable to drive the closing of the clip when the end effector transitions from a fully open configuration to a fully closed configuration, the apparatus according to Example 2.

Example

[0062] The clip is configured to transition from a fully open state to a fully closed state when the end effector transitions from a fully open configuration to a fully closed configuration, the apparatus according to Example 3.

Example

[0063] The end effector is operable to reach a predetermined partially closed configuration between a fully open configuration and a fully closed configuration, and the clip is configured to reach a partially closed state between a fully open state and a fully closed state in response to the end effector reaching the predetermined partially closed configuration, (i) in a safe operating mode, the control module is configured to enable the closing of the end effector to a predetermined partially closed position, (ii) in a safe operating mode, the control module is configured to prevent the closing of the end effector beyond the predetermined partially closed position, the apparatus according to Example 4.

Example

[0064] The clip is capable of returning from the partially closed state to the fully open state after reaching the partially closed state, the apparatus according to Example 5.

Example

[0065] The clip is the device described in Example 6 that cannot return from a partially closed state to a fully open state after exceeding the partially closed state.

Example

[0066] The clip is the device described in Example 7 that is configured to plastically deform after exceeding the partially closed state.

Example

[0067] The clip is the device described in Example 7 that includes a malleability mechanism that prevents the clip from returning to a fully open state after exceeding the partially closed state.

Example

[0068] The device according to any one of Examples 1 to 9, further comprising a robotic arm, wherein the instrument is connected to the robotic arm.

Example

[0069] The device according to Example 10, further comprising a table, the table being configured to support a patient, and the robotic arm being connected to the table.

Example

[0070] The device according to any one of Examples 1 to 11, wherein the first user input part includes one or more pivotal operating arms, and the one or more pivotal operating arms are pivotable to generate an operating signal.

Example

[0071] The device according to any one of Examples 1 to 12, further comprising a console, wherein the first user input part is integrated with the console, and the console further includes an observation assembly.

Example

[0072] The device according to Example 13, wherein the observation assembly is operable to display an endoscopic view of an end effector within the surgical field.

Example

[0073] The observation assembly is further operable to generate a visual indicator, the visual indicator being the device according to Example 14 indicating whether the control module is in the safety mode or the launch mode.

Example

[0074] The device according to any one of Examples 1 to 15, further comprising a second user input unit, wherein the control module is configured to transition from the safety mode to the launch mode in response to a mode transition signal from the second user input unit.

Example

[0075] The device according to Example 16, wherein the second user input unit includes a foot-operated pedal.

Example

[0076] The device according to Example 16 or 17, wherein the control module is configured to transition from the safety mode to the launch mode in response to the second user input unit being operated for a predetermined period of time.

Example

[0077] The device according to Example 18, wherein the control module is configured to remain in the launch mode after the second user input unit has been operated for a predetermined period of time.

Example

[0078] The device according to Example 17, wherein the control module is configured to transition from the safety mode to the launch mode in response to the second user input unit being operated, and the control module is further configured to transition back from the launch mode to the safety mode in response to the operation of the second user input unit being stopped.

Example

[0079] The control module is further configured to identify the real-time position of the end effector, and the control module is configured to transition from a safe operation mode to a firing operation mode at least partially based on the real-time position of the end effector. The apparatus according to any one of Examples 1 to 20.

Example

[0080] The apparatus according to any one of Examples 1 to 21, further comprising a tower and the control module is incorporated into the tower.

Example

[0081] The end effector includes (A) a first jaw and (B) a second jaw, and the first jaw and the second jaw are operable to transition between a fully open position and a fully open position, thereby providing an end effector in a fully open configuration and a fully closed configuration respectively. The apparatus according to any one of Examples 1 to 22.

Example

[0082] An apparatus comprising: (a) a first user input unit operable to generate an actuation signal; and (b) a control module in communication with the instrument, the control module further communicating with the first user input unit, and the control module is configured to transition between a safe operation mode and a firing operation mode, (i) in the safe operation mode, the control module is configured to prevent or limit the closing of the instrument, and (ii) in the firing operation mode, the control module is configured to generate a power drive signal for driving the closing of the instrument to a fully closed configuration.

Example

[0083] The apparatus further comprises an instrument, the instrument including (i) a shaft assembly and (ii) an end effector at a distal end of the shaft assembly, the end effector including (A) a first jaw and (B) a second jaw, the first jaw and the second jaw being operable to transition between a fully open position and a fully closed position, the control module communicating with the instrument, and in (i) a safe operating mode, the control module being configured to prevent or limit closing of the first jaw and the second jaw in response to an actuation signal from a first user input section, and in (ii) a firing operating mode, the control module being configured to generate a power drive signal that drives closing of the first jaw and the second jaw to the fully closed position, the apparatus according to embodiment 24.

Example

[0084] A method comprising: (a) receiving an actuation signal from a first user input section; (b) determining whether the control module is in a safe mode or a firing mode; (c) when the control module is in the safe mode, preventing or limiting closing of the jaws of the end effector of the instrument in response to the actuation signal; and (d) when the control module is in the firing mode, enabling full closing of the jaws of the end effector in response to the actuation signal.

Example

[0085] The user input section includes one or more pivotally actuated arms, and the actuation signal is generated by pivotal movement of the one or more pivotally actuated arms, the method according to embodiment 26.

Example

[0086] The jaws of the end effector are engaged with a clip, the method according to embodiment 26 or 27.

Example

[0087] The clip is configured to return from a partially closed state to a fully open state after reaching the partially closed state, and the clip cannot return from the partially closed state to the fully open state after exceeding the partially closed state, as described in Example 28.

Example

[0088] When the control module is in the safe mode, prevent the jaw of the end effector from driving the clip through the partially closed state, as described in Example 29.

Example

[0089] When the control module is in the safe mode, enable the jaw of the end effector to drive the clip to the partially closed state in response to the actuation signal, as described in Example 30.

Example

[0090] Further include driving an indicator on the display, and the indicator indicates whether the control module is in the safe mode or the firing mode, as described in any of Examples 26 - 31.

Example

[0091] The display further includes an endoscopic image of the end effector within the surgical field, as described in Example 32.

Example

[0092] (a) Receiving a mode transition signal from a second input unit; and (b) Transitioning the control module from the safe mode to the firing mode in response to at least the mode transition signal from the second input unit, as described in any of Examples 26 - 33.

Example

[0093] The mode transition signal from the second input unit is generated in response to an operation of the second input unit over a predetermined period, as described in Example 34.

Example

[0094] The mode transition signal from the second input part is generated while the second input part is being operated, and the mode transition signal from the second input part ceases when the second input part is no longer being operated, the method according to Embodiment 34.

Example

[0095] Further including transitioning the control module from the firing mode to the safety mode in response to the mode transition signal from the second input part having ceased, the method according to Embodiment 36.

Example

[0096] (a) Receiving an end effector position signal indicating the real-time position of the end effector; and (b) transitioning the control module from the safety mode to the firing mode at least in response to the end effector position signal indicating the real-time position of the end effector, the method according to any one of Embodiments 26 to 37.

Example

[0097] The real-time position of the end effector is within a specific distance from the target anatomical structure, the method according to Embodiment 38.

Example

[0098] A processor-readable medium including content configured to cause a processor to process data by executing the method according to any one of Embodiments 26 to 39.

Example

[0099] A non-transitory computer-readable medium storing instructions that, when executed by a processor, cause a robotic surgical system to perform a set of tasks including: (a) receiving an activation signal from a first user input; (b) determining whether a control module is in a safe mode or a firing mode; (c) preventing or restricting closure of a jaw of an end effector of an instrument if the control module is in the safe mode; and (d) enabling full closure of the jaw of the end effector if the control module is in the firing mode.

[0100] V. Others Some variations of the embodiments described herein may be implemented using a processor, which may be part of a computer system and may communicate with several peripheral devices via a bus subsystem. Variations of the examples described herein implemented using a computer system may be implemented using a general-purpose computer programmed to perform the methods described herein. Alternatively, variations of the embodiments described herein implemented using a computer system may be implemented using a special-purpose computer constructed using hardware configured to perform the methods described herein. Variations of the embodiments described herein may also be implemented using a combination of at least one general-purpose computer and at least one special-purpose computer.

[0101] In a variant implemented using a computer system, each processor may include a central processing unit (CPU) of the computer system, a microprocessor, an application-specific integrated circuit (ASIC), other types of hardware components, and combinations thereof. The computer system can include multiple types of processors. The peripheral devices of the computer system can include, for example, a storage subsystem including a memory device and a file storage subsystem, a user interface input device, a user interface output device, and a network interface subsystem. The input and output devices can enable user interaction with the computer system. The network interface subsystem can provide an interface to an external network, including an interface to a corresponding interface device within another computer system. The user interface input device may include a keyboard, a mouse, a trackball, a touchpad, or a pointing device such as a graphics tablet, a scanner, a touch screen incorporated in a display, an audio input device such as a voice recognition system and a microphone, and other types of input devices. In general, the use of the term "input device" is intended to include any possible type of device and method for inputting information into the computer system.

[0102] In a variant implemented using a computer system, the storage subsystem may store programming and data structures that provide some or all of the functionality of the modules and methods described herein. These software modules can generally be executed alone by a processor of the computer system or in combination with other processors. The memory used within the storage subsystem can include a number of memories, including main random access memory (RAM) for storing instructions and data during program execution, as well as read-only memory (ROM) in which immutable instructions are stored. The file storage subsystem can provide persistent storage for programs and data files and can include a hard disk drive, a floppy disk drive with associated removable media, a CD-ROM drive, an optical drive, or a removable media cartridge. The modules implementing the functions of a particular implementation can be stored by the file storage subsystem within the storage subsystem or in other machines accessible by the processor.

[0103] In a variant implemented using a computer system, the computer system itself can be of various types, including a personal computer, a portable computer, a workstation, a computer terminal, a network computer, a television, a mainframe, a server farm, a widely distributed set of sparsely networked computers, or any other data processing system or user device. Due to the ever-changing nature of computers and networks, the examples of computer systems described herein are intended only as specific examples for the purpose of illustrating the disclosed technology. Many other configurations of computer systems having more or fewer components than the computer systems described herein are possible.

[0104] Rather than a method, a non-transitory computer readable medium (CRM) can load program instructions executable by a processor. When executed, the program instructions implement one or more of the methods implemented by the aforementioned computer. Alternatively, the program instructions may be loaded onto a non-transitory CRM and, when combined with appropriate hardware, can become one or more components of a computer-implemented system that implements the disclosed method.

[0105] It should be understood that all or part of any patent, publication, or other disclosure that is said to be incorporated herein by reference is incorporated herein only to the extent that the incorporated content does not conflict with the existing definitions, opinions, or other disclosure content described in this disclosure. As such, and to the extent necessary, the disclosure expressly described herein shall supersede any conflicting description incorporated herein by reference. Any content, or portions thereof, that is said to be incorporated herein by reference but conflicts with the current definitions, opinions, or other disclosure content described herein shall be incorporated only to the extent that no conflict arises between the incorporated content and the current disclosure content.

[0106] The above-described variants may be designed to be discarded after single use, or they may be designed for multiple uses. The variants may, in either or both cases, be reconditioned for reuse after at least one use. Reconditioning may include any combination of the steps of disassembling the system, instrument, and / or parts thereof, followed by cleaning or replacing certain parts, and subsequent reassembly. Specifically, some variants of the system, instrument, and / or parts thereof may be disassembled, and any number of specific parts or components of the system, instrument, and / or parts thereof may be selectively replaced or removed in any combination. When cleaning and / or replacing specific parts, some variants of the system, instrument, and / or parts thereof may be reassembled for subsequent use either in a reconditioning facility or by an operator immediately prior to the procedure. It will be understood by those skilled in the art that various techniques for disassembly, cleaning / replacement, and reassembly may be utilized to recondition the system, instrument, and / or parts thereof. The use of such techniques and the system, instrument, and / or parts thereof reconditioned thereby are all within the scope of this application.

[0107] Merely by way of example, the variants described herein may be sterilized before and / or after the procedure. In one sterilization technique, the system, instrument, and / or parts thereof are placed within a closed and sealed container such as a plastic or TYVEK bag. The container, system, instrument, and / or parts thereof may then be placed in a radiation field that can penetrate the container, such as gamma rays, X-rays, or high-energy electrons. The radiation can kill bacteria within the system, instrument, and / or parts thereof, and within the container. The sterilized system, instrument, and / or parts thereof may be stored within a sterile container for later use. The system, instrument, and / or parts thereof may also be sterilized using any other technique well known in the art, including but not limited to beta or gamma rays, ethylene oxide, or steam.

[0108] Although various embodiments of the present invention have been shown and described, further adaptations of the methods and systems described herein may be made by those skilled in the art with appropriate modifications without departing from the scope of the present invention. Some of such possible modifications have been described, but other modifications will be apparent to those skilled in the art. For example, the examples, embodiments, geometric shapes, materials, dimensions, ratios, steps, etc. discussed above are illustrative and not essential. Therefore, the scope of the present invention should be considered with respect to the following "claims", and it is understood that it is not limited to the details of the structures and operations shown and described in this specification and the drawings.

[0109] 〔Embodiment〕 (1) An apparatus, comprising: (a) An instrument, comprising: (i) A shaft assembly; and (ii) An end effector at a distal end of the shaft assembly, the end effector being operable to transition between a fully open configuration and a fully closed configuration; and (b) A first user input unit operable to generate an actuation signal; and (c) A control module in communication with the instrument, the control module further in communication with the first user input unit, the control module being configured to transition between a safe operation mode and a firing operation mode, (i) In the safe operation mode, the control module is configured to prevent or limit closing of the end effector; and (ii) In the firing operation mode, the control module is configured to generate a power drive signal that drives the closing of the end effector to the fully closed configuration. (2) The apparatus according to Embodiment 1, wherein the end effector is configured to receive a clip, and the end effector is operable to drive the closing of the clip when the end effector transitions from the fully open configuration to the fully closed configuration. (3) Further comprising the clip, the clip being received within the end effector, the end effector being operable to drive the closure of the clip when the end effector transitions from the fully open configuration to the fully closed configuration, the apparatus according to embodiment 2. (4) The clip is configured to transition from a fully open state to a fully closed state when the end effector transitions from the fully open configuration to the fully closed configuration, the apparatus according to embodiment 3. (5) The end effector is operable to reach a predetermined partially closed configuration between the fully open configuration and the fully closed configuration, the clip being configured to reach a partially closed state between the fully open state and the fully closed state in response to the end effector reaching the predetermined partially closed configuration, (i) In the safe operating mode, the control module is configured to allow the end effector to close to a predetermined partially closed position, (ii) In the safe operating mode, the control module is configured to prevent the end effector from closing beyond the predetermined partially closed position, the apparatus according to embodiment 4.

[0110] (6) The clip is capable of returning from the partially closed state to the fully open state after reaching the partially closed state, the apparatus according to embodiment 5. (7) The clip is not capable of returning from the partially closed state to the fully open state after exceeding the partially closed state, the apparatus according to embodiment 6. (8) The clip is configured to plastically deform after exceeding the partially closed state, the apparatus according to embodiment 7. (9) The clip includes a malleability mechanism that prevents the clip from returning to the fully open state after exceeding the partially closed state, the apparatus according to embodiment 7. (10) Further comprising a robotic arm, the instrument being coupled to the robotic arm, the apparatus according to any one of embodiments 1-9.

[0111] (11) The apparatus according to embodiment 10, further comprising a table, wherein the table is configured to support a patient, and the robotic arm is connected to the table. (12) The apparatus according to any one of embodiments 1 to 11, wherein the first user input unit includes one or more pivotally actuated arms, and the one or more pivotally actuated arms are pivotable to generate the actuation signal. (13) The apparatus according to any one of embodiments 1 to 12, further comprising a console, wherein the first user input unit is integrated with the console, and the console further includes an observation assembly. (14) The apparatus according to embodiment 13, wherein the observation assembly is operable to display an endoscopic view of the end effector within the surgical field. (15) The apparatus according to embodiment 14, wherein the observation assembly is further operable to generate a visual indicator, and the visual indicator indicates whether the control module is in the safety mode or the firing mode.

[0112] (16) The apparatus according to any one of embodiments 1 to 15, further comprising a second user input unit, wherein the control module is configured to transition from the safety mode to the firing mode in response to a mode transition signal from the second user input unit. (17) The apparatus according to embodiment 16, wherein the second user input unit includes a foot-operated pedal. (18) The apparatus according to embodiment 16 or 17, wherein the control module is configured to transition from the safety mode to the firing mode in response to the second user input unit being operated for a predetermined period of time. (19) The apparatus according to embodiment 18, wherein the control module is configured to remain in the firing mode after the second user input unit has been operated for the predetermined period of time. (20) The control module is configured to transition from the safety mode to the firing mode in response to an operation of the second user input unit, and the control module is further configured to transition back from the firing mode to the safety mode in response to the cessation of the operation of the second user input unit, the apparatus according to embodiment 17.

[0113] (21) The control module is further configured to identify the real-time position of the end effector, and the control module is configured to transition from the safety operation mode to the firing operation mode based at least in part on the real-time position of the end effector, the apparatus according to any one of embodiments 1 to 20. (22) The apparatus further comprising a tower, wherein the control module is incorporated in the tower, the apparatus according to any one of embodiments 1 to 21. (23) The end effector is (A) a first jaw, and (B) a second jaw, and the first jaw and the second jaw are operable to transition between a fully open position and a fully closed position, thereby providing the end effector in the fully open configuration and the fully closed configuration, respectively, the apparatus according to any one of embodiments 1 to 22. (24) An apparatus, (a) a first user input unit operable to generate an actuation signal, and (b) a control module in communication with the instrument, the control module further communicating with the first user input unit, the control module being configured to transition between a safety operation mode and a firing operation mode, (i) in the safety operation mode, the control module is configured to prevent or limit the closing of the instrument, (ii) in the firing operation mode, the control module is configured to generate a power drive signal that drives the closing of the instrument to a fully closed position, the apparatus. (25) The apparatus further comprising the instrument, the instrument being (i) A shaft assembly, and (ii) An end effector at a distal end of the shaft assembly, comprising: the end effector (A) A first jaw, and (B) A second jaw, wherein the first jaw and the second jaw are operable to transition between a fully open position and the fully closed position, The control module communicates with the instrument, (i) In the safe operating mode, the control module is configured to prevent or limit the closing of the first jaw and the second jaw in response to the actuation signal from the first user input portion; (ii) In the firing operation mode, the control module is configured to generate a power drive signal that drives the closing of the first jaw and the second jaw to the fully closed position, the apparatus according to embodiment 24.

[0114] (26) A method comprising: (a) Receiving an actuation signal from a first user input portion; (b) Determining whether the control module is in a safe mode or a firing mode; (c) When the control module is in the safe mode, preventing or limiting the closing of the jaws of the end effector of the instrument in response to the actuation signal; (d) When the control module is in the firing mode, enabling the full closing of the jaws of the end effector in response to the actuation signal. (27) The method according to embodiment 26, wherein the user input portion includes one or more pivotally actuated arms, and the actuation signal is generated by a pivotal movement of the one or more pivotally actuated arms. (28) The method according to embodiment 26 or 27, wherein the jaws of the end effector are engaged with a clip. (29) The clip is configured to return from the partially closed state to the fully open state after reaching the partially closed state, and the clip cannot return from the partially closed state to the fully open state after exceeding the partially closed state, according to the method of embodiment 28. (30) When the control module is in the safe mode, preventing the jaw of the end effector from driving the clip through the partially closed state, according to the method of embodiment 29.

[0115] (31) When the control module is in the safe mode, enabling the jaw of the end effector to drive the clip to the partially closed state in response to the actuation signal, according to the method of embodiment 30. (32) Further including driving an indicator on a display, the indicator indicating whether the control module is in the safe mode or the firing mode, according to the method of any one of embodiments 26 to 31. (33) The display further includes an endoscopic image of the end effector within the surgical field, according to the method of embodiment 32. (34) (a) Receiving a mode transition signal from a second input unit; (b) Transitioning the control module from the safe mode to the firing mode in response to at least the mode transition signal from the second input unit, according to the method of any one of embodiments 26 to 33. (35) The mode transition signal from the second input unit is generated in response to an operation of the second input unit over a predetermined period, according to the method of embodiment 34.

[0116] (36) The mode transition signal from the second input unit is generated while the second input unit is being operated, and the mode transition signal from the second input unit ceases when the second input unit is no longer being operated, according to the method of embodiment 34. The method according to embodiment 36, further comprising: in response to the mode transition signal from the second input unit being interrupted, transitioning the control module from the emission mode to the safety mode. (38) (a) Receiving an end effector position signal indicating a real-time position of the end effector; (b) transitioning the control module from the safety mode to the emission mode in response to at least the end effector position signal indicating the real-time position of the end effector, the method according to any one of embodiments 26 to 37. (39) The method according to embodiment 38, wherein the real-time position of the end effector is within a specific distance from a target anatomical structure. A processor-readable medium including content configured to cause a processor to process data by performing the method according to any one of embodiments 26 to 39.

[0117] (41) A non-transitory computer-readable medium storing instructions that, when executed by a processor, cause a robotic surgical system to: (a) receive an activation signal from a first user input unit; (b) determine whether the control module is in a safety mode or an emission mode; (c) when the control module is in the safety mode, prevent or limit the closing of the jaws of the end effector of the instrument; (d) when the control module is in the emission mode, enable complete closing of the jaws of the end effector, the non-transitory computer-readable medium being operable to cause execution of a set of tasks including the above.

Claims

1. An apparatus, comprising: (a) An instrument, comprising: (i) A shaft assembly; and (ii) An end effector at a distal end of the shaft assembly, the end effector being operable to transition between a fully open configuration and a fully closed configuration; and (b) A first user input operable to generate an actuation signal; and (c) A control module in communication with the instrument, the control module further in communication with the first user input, the control module being configured to transition between a safe operating mode and a firing operating mode, (i) In the safe operating mode, the control module being configured to prevent or limit closing of the end effector; and (ii) In the firing operating mode, the control module being configured to generate a power drive signal to drive closing of the end effector to the fully closed configuration.

2. The end effector is configured to receive a clip, and the end effector is operable to drive closing of the clip when the end effector transitions from the fully open configuration to the fully closed configuration. The apparatus of claim 1.

3. The apparatus of claim 2, further comprising the clip, the clip being received within the end effector, the end effector being operable to drive closing of the clip when the end effector transitions from the fully open configuration to the fully closed configuration.

4. The clip of claim 3 is configured to transition from a fully open state to a fully closed state when the end effector transitions from the fully open configuration to the fully closed configuration.

5. The end effector is operable to reach a predetermined partially closed configuration between the fully open configuration and the fully closed configuration, and the clip is configured to reach a partially closed state between the fully open state and the fully closed state in response to the end effector reaching the predetermined partially closed configuration, (i) In the safe operating mode, the control module is configured to allow closing of the end effector to a predetermined partially closed position. The device according to claim 4, wherein in the safe operation mode, the control module is configured to prevent the end effector from closing beyond the predetermined partially closed position. **Claim 6** The device according to claim 5, wherein the clip can return from the partially closed state to the fully open state after reaching the partially closed state. **Claim 7** The device according to claim 6, wherein the clip cannot return from the partially closed state to the fully open state after exceeding the partially closed state. **Claim 8** The device according to claim 7, wherein the clip is configured to plastically deform after exceeding the partially closed state. **Claim 9** The device according to claim 7, wherein the clip includes a malleability mechanism that prevents the clip from returning to the fully open state after exceeding the partially closed state. **Claim 10** The device according to any one of claims 1 to 9, further comprising a robotic arm, wherein the instrument is connected to the robotic arm. **Claim 11** The device according to claim 10, further comprising a table, wherein the table is configured to support a patient, and the robotic arm is connected to the table. **Claim 12** The device according to claim 1, wherein the first user input part includes one or more pivot operating arms, and the one or more pivot operating arms are pivotable to generate the operating signal. **Claim 13** The device according to claim 1, further comprising a console, wherein the first user input part is integrated with the console, and the console further includes an observation assembly. **Claim 14** The device according to claim 13, wherein the observation assembly is operable to display an endoscopic view of the end effector within the surgical field. **Claim 15** The device according to claim 14, wherein the observation assembly is further operable to generate a visual indicator, and the visual indicator indicates whether the control module is in the safe mode or the firing mode. **Claim 16** The device according to claim 1, further comprising a second user input part, wherein the control module is configured to transition from the safe mode to the firing mode in response to a mode transition signal from the second user input part. **Claim 17** The device according to claim 16, wherein the second user input part includes a foot-operated pedal. **Claim 18** The apparatus according to claim 16, wherein the control module is configured to transition from the safety mode to the firing mode in response to the second user input unit being operated over a predetermined period of time.

19. The apparatus according to claim 18, wherein the control module is configured to remain in the firing mode after the second user input unit has been operated for the predetermined period of time.

20. The apparatus according to claim 17, wherein the control module is configured to transition from the safety mode to the firing mode in response to the second user input unit being operated, and the control module is further configured to transition back from the firing mode to the safety mode in response to the cessation of operation of the second user input unit.

21. The apparatus according to claim 1, wherein the control module is further configured to identify a real-time position of the end effector, and the control module is configured to transition from the safe operating mode to the firing operating mode based at least in part on the real-time position of the end effector.

22. The apparatus according to claim 1, further comprising a tower, wherein the control module is incorporated into the tower.

23. The end effector is (A)a first jaw and (B)a second jaw, and the first jaw and the second jaw are operable to transition between a fully open position and a fully closed position, thereby providing the end effector in the fully open configuration and the fully closed configuration, respectively. The apparatus according to claim 1.

24. An apparatus comprising (a)a first user input unit operable to generate an actuation signal, and (b)a control module in communication with the instrument, the control module further communicating with the first user input unit, the control module being configured to transition between a safe operating mode and a firing operating mode, (i)in the safe operating mode, the control module is configured to prevent or limit the closing of the instrument, and (ii)in the firing operating mode, the control module is configured to generate a power drive signal that drives the closing of the instrument to a fully closed position.

25. The apparatus further comprising the instrument, wherein the instrument is (i) a shaft assembly, and (ii) an end effector at a distal end of the shaft assembly, the end effector including (A) a first jaw, and (B) a second jaw, the first jaw and the second jaw being operable to transition between a fully open position and the fully closed position, the control module communicating with the instrument, (i) in the safe operating mode, the control module being configured to prevent or limit closing of the first jaw and the second jaw in response to the actuation signal from the first user input portion, (ii) in the firing operating mode, the control module being configured to generate a power drive signal that drives closing of the first jaw and the second jaw to the fully closed position, the apparatus of claim 24.

26. A method comprising: (a) receiving an actuation signal from a first user input portion; (b) determining whether the control module is in a safe mode or a firing mode; (c) when the control module is in the safe mode, preventing or limiting closing of the jaws of the end effector of the instrument in response to the actuation signal; (d) when the control module is in the firing mode, enabling full closing of the jaws of the end effector in response to the actuation signal.

27. The method of claim 26, wherein the user input portion includes one or more pivotally actuated arms, and the actuation signal is generated by pivotal movement of the one or more pivotally actuated arms.

28. The method of claim 26 or 27, wherein the jaws of the end effector are engaged with a clip.

29. The method of claim 28, wherein the clip is configured to return from the partially closed state to the fully open state after reaching the partially closed state, and the clip cannot return from the partially closed state to the fully open state after exceeding the partially closed state.

30. The method of claim 29, wherein when the control module is in the safe mode, preventing the jaws of the end effector from driving the clip by passing through the partially closed state.

31. The method of claim 30, wherein when the control module is in the safety mode, in response to the actuation signal, the jaw of the end effector drives the clip to the partially closed state.

32. The method of claim 26, further comprising driving an indicator on a display, the indicator indicating whether the control module is in the safety mode or the firing mode.

33. The method of claim 32, wherein the display further includes an endoscopic image of the end effector within the surgical field.

34. (a) Receiving a mode transition signal from a second input section; (b) Transitioning the control module from the safety mode to the firing mode in response to at least the mode transition signal from the second input section.

35. The method of claim 34, wherein the mode transition signal from the second input section is generated in response to an operation of the second input section over a predetermined period.

36. The method of claim 34, wherein the mode transition signal from the second input section is generated while the second input section is being operated, and the mode transition signal from the second input section ceases when the second input section is no longer being operated.

37. The method of claim 36, further comprising transitioning the control module from the firing mode to the safety mode in response to the mode transition signal from the second input section ceasing.

38. (a) Receiving an end effector position signal indicating a real-time position of the end effector; (b) Transitioning the control module from the safety mode to the firing mode in response to at least the end effector position signal indicating the real-time position of the end effector.

39. The method of claim 38, wherein the real-time position of the end effector is within a specific distance from a target anatomical structure.

40. A processor-readable medium including content configured to cause a processor to process data by performing the method of claim 26.

41. A non-transitory computer-readable medium storing instructions that, when executed by a processor, cause a robotic surgical system to (a) receive an activation signal from a first user input unit; (b) determine whether a control module is in a safety mode or a firing mode; (c) prevent or limit closure of jaws of an end effector of an instrument if the control module is in the safety mode; (d) enable full closure of the jaws of the end effector if the control module is in the firing mode, and be operable to execute a set of tasks including the above.

Images