Robot surgical system having a removable portion and method of disassembling the same

Abstract

A robotic surgical system includes a controller, a surgical instrument, and a tool. The surgical instrument is configured to interact with a patient. The surgical instrument is operably coupled to the controller. The tool is operably coupled to the robotic surgical system. The tool includes a disassembling mechanism. The disassembling mechanism of the tool is configured to separate at least a part of the surgical instrument from the robotic surgical system in response to an instruction from the controller.

Description

Background Art

[0001] Various ultrasonic surgical instruments include an end effector having a blade element that vibrates at ultrasonic frequencies to cut and / or seal tissue (e.g., by denaturing proteins within the tissue cells). These instruments include one or more piezoelectric elements that convert electrical power into ultrasonic vibrations, which are transmitted along an acoustic waveguide to the blade element. Examples of ultrasonic surgical instruments and related concepts are disclosed in U.S. Patent Application Publication No. 2006 / 0079874, titled "Tissue Pad for Use with an Ultrasonic Surgical Instrument," published on April 13, 2006 and now abandoned, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent Application Publication No. 2007 / 0191713, titled "Ultrasonic Device for Cutting and Coagulating," published on August 16, 2007 and now abandoned, the disclosure of which is incorporated herein by reference in its entirety; and U.S. Patent Application Publication No. 2008 / 0200940, titled "Ultrasonic Device for Cutting and Coagulating," published on August 21, 2008 and now abandoned, the disclosure of which is incorporated herein by reference in its entirety.

[0002] Some instruments are operable to seal tissue by applying radiofrequency (RF) electrosurgical energy to the tissue. Examples of such devices and related concepts are disclosed in U.S. Patent No. 7,354,440, titled "Electrosurgical Instrument and Method of Use," issued on April 8, 2008, the disclosure of which is incorporated herein by reference in its entirety; and U.S. Patent No. 7,381,209, titled "Electrosurgical Instrument," issued on June 3, 2008, the disclosure of which is incorporated herein by reference in its entirety.

[0003] Some instruments are capable of applying both ultrasonic energy and RF electrosurgical energy to tissue. Examples of such instruments are described in U.S. Patent No. 9,949,785, entitled "Ultrasonic Surgical Instrument with Electrosurgical Feature," issued April 24, 2018, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 8,663,220, entitled "Ultrasonic Electrosurgical Instruments," issued March 4, 2014, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 10,835,307, entitled "Modular Battery Powered Handheld Surgical Instrument Containing Elongated Multi-Layered Shaft," issued November 17, 2020, the disclosure of which is incorporated herein by reference in its entirety; and U.S. Patent No. 11,229,471, entitled "Modular Battery Powered Handheld Surgical Instrument with Selective Application of Energy Based on Tissue Characterization," issued January 25, 2022, the disclosure of which is incorporated herein by reference in its entirety.

[0004] In some scenarios, it may be preferable to directly grip and manipulate a surgical instrument by one or more hands of one or more human operators. Additionally, or alternatively, it may be preferable to have a surgical instrument that is controlled via a robotic surgical system. Examples of robotic surgical systems and related instruments are U.S. Patent No. 10,624,709, entitled "Robotic Surgical Tool with Manual Release Lever," published on May 2, 2019, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 9,314,308, entitled "Robotic Ultrasonic Surgical Device With Articulating End Effector," issued on April 19, 2016, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 9,125,662, entitled "Multi-Axis Articulating and Rotating Surgical Tools," issued on September 8, 2015, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 8,820,605, entitled "Robotically-Controlled Surgical Instruments," issued on September 2, 2014, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent Application Publication No. 2019 / 0201077, entitled "Interruption of Energy Due to Inadvertent Capacitive Coupling," published on July 4, 2019, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent Application Publication No. 2012 / 0292367, entitled "Robotically-Controlled End Effector," published on November 11, 2012, the disclosure of which is incorporated herein by reference in its entirety; and U.S. Patent Application No. 16 / 556,661, entitled "Ultrasonic Surgical Instrument with a Multi-Planar Articulating Shaft Assembly," filed on August 30, 2019, the disclosure of which is incorporated herein by reference in its entirety.

[0005] Such instruments and robotic surgical systems may further be incorporated into a surgical system for performing procedures in a surgical environment such as an operating room or surgical suite within a medical facility. The sterile field is typically created around the patient and may include appropriately gowned and scrubbed medical personnel, as well as desired furniture and / or fixtures. Examples of such surgical systems and related mechanisms are disclosed in U.S. Patent Application Publication No. 2019 / 0201046, titled "Method for Controlling Smart Energy Devices," published July 4, 2019, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent Application Publication No. 2019 / 0201080, titled "Ultrasonic Energy Device Which Varies Pressure Applied by Clamp Arm to Provide Threshold Control Pressure at a Cut Progression Location," published July 4, 2019, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent Application Publication No. 2019 / 0201091, titled "Radio Frequency Energy Device for Delivering Combined Electrical Signals," published July 4, 2019, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent Application Publication No. 2019 / 0274717, titled "Methods for Controlling Temperature in Ultrasonic Device," published September 12, 2019, the disclosure of which is incorporated herein by reference in its entirety; and U.S. Patent Application Publication No. 2019 / 0207857, titled "Surgical Network Determination of Prioritization of Communication, Interaction, or Processing Based on System or Device Needs," published July 4, 2019, the disclosure of which is incorporated herein by reference in its entirety.

[0006] Although several surgical instruments and systems have been made and used, it is believed that no one prior to the inventors has made or used the invention described in the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] This specification concludes with claims that particularly point out and distinctly claim the technology. The technology, however, will be better understood from the following description of certain specific embodiments when read in conjunction with the accompanying drawings, in which like reference numerals identify like elements.

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[0008] The drawings are not intended to limit in any way, and it is contemplated that various embodiments of the present technology can be implemented in various other ways, including those not necessarily depicted in the drawings. The accompanying drawings, which are incorporated herein and form a part of this specification, illustrate some aspects of the present technology and, together with the description, explain the principles of the present technology, but it is understood that the present technology is not limited to the exact arrangements shown.

Best Mode for Carrying Out the Invention

[0009] 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 example. As will be understood, the technologies described herein are capable of other different and apparent aspects without departing from the technology. Therefore, the drawings and description are not limiting and should be considered essentially exemplary.

[0010] 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 readily become 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.

[0011] 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" means 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" means 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. It should be noted that the terms "upper", "lower", "top", "bottom", "upper side", and "lower side" are used with respect to the embodiments and the associated figures and are not intended to unduly limit the invention described herein.

[0012] I. Example of a Surgical System Referring to FIG. 1, a computer-implemented interactive surgical system (100) includes one or more surgical systems (102) and a cloud-based system (e.g., a cloud (104) that may include a remote server (113) coupled to a storage device (105)). Each surgical system (102) in this example may include at least one surgical hub (106) that communicates with a cloud (104) that may include a remote server (113). In one example, as shown in FIG. 1, the surgical system (102) includes a visualization system (108), a robotic system (110), and a handheld intelligent surgical instrument (112), which are configured to communicate with each other and / or with the hub 106. In some aspects, the surgical system (102) may include M hubs (106), N visualization systems (108), O robotic systems (110), and P handheld intelligent surgical instruments (112), where M, N, O, and P are integers greater than or equal to 1. In any case, any suitable combination of the mechanisms provided below may be incorporated into an exemplary surgical system such as the surgical system (100) and used in an operating room to perform a desired surgical procedure, as will be apparent to those skilled in the art considering the teachings herein.

[0013] FIG. 2 shows an example of a surgical system (102) used to perform surgery on a patient lying on an operating table (114) within an operating room (116). A robotic system (110) is used as part of the surgical system 102 in the surgery. The robotic system (110) includes a surgeon's console (118), a patient-side cart (120) (surgical robot), and a surgical robot hub (122). While the surgeon views the surgical site through the console (118), the patient-side cart (120) can operate a surgical tool (117) removably coupled to any of a plurality of surgical arms (123) through a minimally invasive incision in the patient's body. An image of the surgical site can be obtained by a medical imaging device (124) operated by the patient-side cart (120) to change the orientation of the imaging device (124). The robot hub (122) can be used to process an image of the surgical site and then display it to the surgeon through the console (118).

[0014] Other types of robotic systems can be readily adapted to be used with the surgical system (102). Various examples of robotic systems and surgical tools suitable for use with the present disclosure are described in U.S. Provisional Patent Application No. 62 / 611,339, filed on December 28, 2017, entitled "Robot Assisted Surgical Platform", the entire disclosure of which is incorporated herein by reference.

[0015] Various examples of cloud-based analysis methods executed by the cloud (104) and suitable for use with the present disclosure are described in U.S. Provisional Patent Application No. 62 / 611,340, filed on December 28, 2017, entitled "Cloud-Based Medical Analytics", the entire disclosure of which is incorporated herein by reference.

[0016] In various aspects, the imaging device (124) includes at least one image sensor and one or more optical components. Suitable image sensors include, but are not limited to, charge-coupled device (CCD) sensors and complementary metal-oxide semiconductor (CMOS) sensors. In various aspects, the imaging device (124) is configured for use in minimally invasive procedures. Examples of imaging devices suitable for use with the present disclosure include, but are not limited to, arthroscopes, angioscopes, bronchoscopes, choledochoscopes, colonoscopes, cystoscopes, duodenoscopes, enteroscopes, esophagogastroduodenoscopes (stomach cameras), endoscopes, laryngoscopes, nasopharyngo-ureteroscopes, sigmoidoscopes, thoracoscopes, and ureteroscopes. Some aspects of spectral and multispectral imaging methods are described in detail in the "Advanced Imaging Acquisition Module" of U.S. Provisional Patent Application No. 62 / 611,341, entitled "Interactive Surgical Platform," filed on December 28, 2017, the entire disclosure of which is incorporated herein by reference.

[0017] During any surgical procedure, strict sterilization of the operating room and surgical instruments is required. The strict hygiene and sterilization conditions required in the "operating room," i.e., the operating or treatment room, require the highest possible sterility of all medical devices and instruments. Part of that sterilization process requires sterilizing anything that comes into contact with the patient or penetrates the sterile field. It will be understood that the sterile field can be considered a specific area that is considered to be free of microorganisms, such as within a tray or on a sterile towel, or the sterile field can be considered the area immediately surrounding a patient who is prepared for surgery. The sterile field can include properly attired and scrubbed team members, as well as all equipment and fixtures within that area.

[0018] In addition to the introduction of any mechanism of a surgical system (100), furniture, or fixture into a sterile field that requires sterilization, particularly when such a mechanism comes into contact with, or is presumed to come into contact with, a patient including any tissue and / or fluid associated with a surgical procedure, additional complications can result from the removal of these mechanisms from the sterile field. Such contamination of these mechanisms from the patient often requires special consideration during or after the surgical procedure, particularly when processing these mechanisms for disposal, reuse, or remanufacture as needed. In one example, the surgical system (100) and / or healthcare providers associated with the surgical procedure can be particularly equipped to handle such processing, as described in more detail below.

[0019] As shown in FIG. 2, the primary display (119) is positioned within the sterile field so as to be visible to the operator of the operating table (114). Additionally, the visualization tower (111) is positioned outside the sterile field. The visualization tower (111) includes a first non-sterile display (107) and a second non-sterile display (109) facing opposite each other. The visualization system (108) guided by the hub (106) is configured to utilize the displays (107, 109, 119) to coordinate the flow of information to the operators inside and outside the sterile field. For example, the hub (106) can cause the visualization system (108) to display a snapshot of the surgical site recorded by the imaging device (124) on the non-sterile display (107) or (109) while maintaining a live video of the surgical site on the primary display (119). The snapshot on the non-sterile display (107) or display (109) can, for example, permit a non-sterile operator to perform diagnostic steps related to the surgical procedure.

[0020] In one aspect, the hub (106) is also configured to send diagnostic inputs or feedback entered by a non-sterile operator at the visualization tower (111) to a primary display (119) within the sterile field, where it can be viewed by a sterile operator at the operating table. In one example, the input can be in the form of a modification to a snapshot displayed on the non-sterile display (107) or display (109) that can be sent by the hub (106) to the primary display (119).

[0021] Referring to FIG. 2, the surgical instrument (112) is used as part of a surgical system (102) in a surgical procedure. The hub (106) is also configured to regulate the flow of information to a display of the surgical instrument (112), such as, for example, as described in U.S. Provisional Patent Application No. 62 / 611,341, entitled "Interactive Surgical Platform," filed on Dec. 28, 2017, the disclosure of which is incorporated herein by reference in its entirety. Diagnostic inputs or feedback entered by a non-sterile operator at the visualization tower (111) can be sent by the hub (106) to a surgical instrument display (115) within the sterile field, where it can be viewed by an operator of the surgical instrument (112). Exemplary surgical instruments suitable for use with the surgical system (102) are described, for example, in the "Surgical Instrument Hardware" section of U.S. Provisional Patent Application No. 62 / 611,341, entitled "Interactive Surgical Platform," filed on Dec. 28, 2017, the entire disclosure of which is incorporated herein by reference.

[0022] Referring now to FIG. 3, a hub (106) is shown that communicates with a visualization system (108), a robotic system (110), and a handheld intelligent surgical instrument (112). The hub (106) includes a hub display (135), an imaging module (138), a generator module (140), a communication module (130), a processor module (132), and a storage array (134). In certain embodiments, as shown in FIG. 3, the hub (106) further includes a smoke exhaust module (126), a suction / irrigation module (128), and / or an operating room mapping module (133).

[0023] During a surgical procedure, applying energy to tissue for sealing and / or cutting is generally associated with smoke evacuation, suction of excess fluid, and / or irrigation of tissue. Fluid lines, power lines, and / or data lines from different sources often become entangled during a surgical procedure. Valuable time can be lost in addressing this problem during a surgical procedure. To untangle the lines, it may be necessary to disconnect the lines from their corresponding modules, which may require resetting the modules. The hub module enclosure (136) provides an integrated environment for managing power lines, data lines, and fluid lines, reducing the frequency of such line entanglements.

[0024] Referring to FIGS. 3-4, aspects of the present disclosure are presented regarding a hub module type enclosure (136) that enables modular integration of a generator module (140), a flue gas discharge module (126), and a suction / irrigation module (128). The hub module type enclosure (136) further facilitates interactive communication between the modules (140, 126, 128). As shown in FIG. 4, the generator module (140) may be a generator module that includes integrated monopole components, bipolar components, and ultrasonic components supported within a single housing unit (139) that is slidably insertable into the hub module type enclosure (136). As shown in FIG. 4, the generator module (140) can be configured to connect to a monopole device (146), a bipolar device (147), and an ultrasonic device (148). Alternatively, the generator module (140) may include a series of monopole generator modules, bipolar generator modules, and / or ultrasonic generator modules that interact via the hub module type enclosure (136). The hub module type enclosure (136) can be configured to facilitate the insertion of multiple generators and the interactive communication between the generators docked to the hub module type enclosure (136) such that the multiple generators function as a single generator.

[0025] FIG. 5 shows one form of a generator (150) and various surgical instruments (152, 154, 156) that can be used therewith. The surgical instrument (152) is an ultrasonic surgical instrument (152), the surgical instrument (154) is an RF electrosurgical instrument (154), and the multifunctional surgical instrument (156) is an ultrasonic / RF combined electrosurgical instrument (156). The generator (150) can be configured to be used with various surgical instruments. According to various forms, the generator (150) can be configured to be used with various different types of surgical instruments, including, for example, an ultrasonic surgical instrument (152), an RF electrosurgical instrument (154), and a multifunctional surgical instrument (156) that integrates RF energy and ultrasonic energy simultaneously delivered from the generator (150). The generator (150) in this example of FIG. 5 is shown separately from the surgical instruments (152, 154, 156), but the generator (150) can alternatively be formed integrally with any of the surgical instruments (152, 154, 156) to form a single surgical system. The generator (150) includes an input device (158) located on the front panel of the console of the generator (150). The input device (158) can include any suitable device that generates a signal suitable for programming the operation of the generator (150). The generator (150) may be configured for wired or wireless communication.

[0026] The generator (150) in this example is configured to drive a plurality of surgical instruments (152, 154, 156). An example of such a surgical instrument is an ultrasonic surgical instrument (152), which includes a handpiece (160), an ultrasonic transducer 162, a shaft assembly (164), and an end effector (166). The end effector (166) includes an ultrasonic blade (168) and a clamp arm (170) that are acoustically coupled to the ultrasonic transducer (162). The handpiece (160) includes a trigger (172) for operating the clamp arm (170) and a combination of toggle buttons (173, 174, 175) for supplying and driving energy to the ultrasonic blade (168) or other functions. The toggle buttons (173, 174, 175) can be configured to supply energy to the ultrasonic transducer (162) using the generator (150).

[0027] The generator (150) is also configured to drive another example of a surgical instrument (154). The RF electrosurgical instrument (154) includes a handpiece (176), a shaft assembly (178), and an end effector (180). The end effector (180) includes electrodes within the clamp arms (181, 182) and returns through the electrical conductor portion of the shaft assembly (178). The electrodes are coupled to a bipolar energy source within the generator (150) and are supplied with energy by the bipolar energy source. The handpiece (176) includes a trigger (183) for operating the clamp arms (181, 182) and an energy button (184) for actuating an energy switch for supplying energy to the electrodes within the end effector (180).

[0028] The generator (150) is also configured to drive a multi-functional surgical instrument (156). The multi-functional surgical instrument (156) includes a handpiece (185), a shaft assembly (186), and an end effector (188). The end effector (188) includes an ultrasonic blade (190) and a clamp arm (192). The ultrasonic blade (190) is acoustically coupled to an ultrasonic transducer (162). The handpiece (185) includes a trigger (194) for operating the clamp arm (192) and a combination of toggle buttons (195, 196, 197) for supplying energy to and driving the ultrasonic blade (190) or other functions. The toggle buttons (195, 196, 197) can be configured to supply energy to the ultrasonic transducer (162) using the generator (150) and, similarly, to supply energy to the ultrasonic blade (190) using a bipolar energy source housed within the generator (150). It will be appreciated that the handpieces (160, 176, 185) may be replaced with robotic-controlled instruments for incorporating one or more aspects of the surgical instruments (152, 154, 156). Thus, the term "handpiece" should not be limited to this context and handheld use.

[0029] As used throughout this specification, the term "wireless" and its derivatives may be used to describe circuits, devices, systems, methods, techniques, communication channels, etc. that can communicate data through the use of modulated electromagnetic radiation via a non-solid medium. This term is not meant to imply that the associated devices do not include any wired components, although in some embodiments they may not be present. The communication module may implement any one of several wireless or wired communication standards or protocols, including but not limited to Wi-Fi (IEEE 802.11 family), WMAX (IEEE 802.16 family), IEEE 802.20, Long Term Evolution (LTE), Ev-DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT, Bluetooth, derivatives of these Ethernet standards, and any other wireless and wired protocols designated as 3G, 4G, 5G, and beyond. The computing module may include multiple communication modules. For example, the first communication module may be dedicated to short-range wireless communication such as Wi-Fi and Bluetooth, and the second communication module may be dedicated to long-range wireless communication such as GPS, EDGE, GPRS, CDMA, WiMAX, LTE, Ev-DO, etc.

[0030] As used in this specification, a processor or processing unit is an electronic circuit that performs operations on some external data source (usually memory) or some other data stream. In this specification, the term is used to refer to the central processor (central processing unit) within a system or computer system (particularly a system on a chip (SoC)) that combines many specialized "processors".

[0031] As used herein, a system-on-chip (SoC or SOC) is an integrated circuit (also known as an "IC" or "chip") that integrates all the components of a computer or other electronic system. This can include digital, analog, mixed-signal, and in many cases high-frequency functions, all on a single substrate. An SoC integrates a microcontroller (or microprocessor) with state-of-the-art peripherals such as a graphics processing unit (GPU), Wi-Fi module, or coprocessor. An SoC may or may not include on-chip memory.

[0032] As used herein, a microcontroller or controller is a system that integrates a microprocessor with peripheral circuits and memory. A microcontroller (or MCU of a microcontroller unit) may be implemented as a small computer on a single integrated circuit. This may be similar to an SoC, which may include a microcontroller as one of its components. A microcontroller may house memory and programmable input / output peripherals along with one or more core processing units (CPUs). Program memory in the form of ferroelectric RAM, NOR flash, or OTP ROM, and a small amount of RAM are also often included on the chip. A microcontroller can be used for embedded applications, as opposed to microprocessors used in personal computers or other general-purpose applications composed of various discrete chips.

[0033] As used herein, the term controller or microcontroller may be a stand-alone IC or chip device that interfaces with peripheral devices. This may also be the linkage between two parts of a computer or controller on an external device that manages the operation of the device (and connections to the device). A modular device includes a module that can be received within a surgical hub (e.g., as described in connection with FIG. 3), and a surgical device or instrument that can be connected to various modules to connect or pair with a corresponding surgical hub. Examples of modular devices include, for example, intelligent surgical instruments, medical imaging devices, aspiration / irrigation devices, smoke evacuators, energy generators, ventilators, inhalers, and displays. The modular devices described herein can be controlled by a control algorithm. The control algorithm can be executed on the modular device itself, on the surgical hub to which a particular modular device is paired, or on both the modular device and the surgical hub (e.g., via a distributed computing architecture). In some examples, the control algorithm of a modular device controls the device based on data sensed by the modular device itself (i.e., by sensors within, on, or connected to the modular device). This data may be related to the patient during surgery (e.g., tissue characteristics or insufflation pressure), or may be related to the modular device itself (e.g., the speed of a advancing knife, motor current, or energy level). For example, the control algorithms for surgical stapling and cutting instruments can control the speed at which the motor of the instrument drives the knife through tissue according to the resistance created by the knife as it advances.

[0034] II. Robotic Surgical System with Removable Portions In some examples, it may be desirable to provide a surgical instrument that includes components capable of delivering ultrasonic energy, RF energy, or both ultrasonic and RF energy, and these components are easily opened to provide access to internal components for separation into separate waste streams using minimal tools. Surgical procedures are typically performed within a sterile field as described above. A sterile field free of microorganisms allows the surgical team to reduce the risk of infection by ensuring that only sterilized equipment and tools are used within the sterile field. The surgical instrument is sterilized, packaged in a sterilization container, and sent to the sterile field. A medical professional may be required to disassemble the surgical instrument within the sterile field by hand or using tools provided within the sterilization container after the surgical procedure. For example, a torque wrench provided for assembling the surgical instrument may have an additional mechanism for disassembling the surgical instrument.

[0035] The surgical instrument includes additional mechanisms that facilitate the disassembly and removal of internal components. These separate waste streams are pre-determined based on the material of the components or the use of the components. For example, the waste streams may include recycling, disposal, or reclamation. Components placed within the disposal waste stream are disposed of in a landfill. Components placed within the recycling waste stream may be further separated, shredded, and melted into base components. Components placed within the reclamation waste stream are cleaned, tested, repaired, and re-equipped within another surgical instrument. For example, plastic and metal components may be separated into one waste stream for disposal, heavy metals from integrated circuits may be separated into a second waste stream for recycling, and ultrasonic transducers may be separated into a third waste stream for reclamation.

[0036] A. Overview of a Robotic Surgical System FIG. 6 shows an exemplary robotic surgical system (4010) that includes a patient-side cart (4012) (surgical robot), a surgical robot hub (4014), and a packaging system (4016). The patient-side cart (4012) may be similar to the patient-side cart (120), and the surgical robot hub (4014) may be similar to the surgical robot hub (122) (see FIG. 2) unless otherwise specifically indicated below. Although not shown, the robotic surgical system (4010) may include additional mechanisms (e.g., a surgeon's console, etc.) similar to the robotic surgical system (110).

[0037] As shown in FIG. 6, the patient-side cart (4012) includes a base (4018), a column (4020), a vertical carriage (4022), and an operating table (4024). The base (4018) and the column (4020) cooperate to support the operating table (4024). The vertical carriage (4022) is configured to move up and down along or relative to the column (4020). The operating table (4024) is configured to support a patient thereon and may be similar to the operating table (114). The vertical carriage supports a plurality of robotic arms that may be similar to the surgical arm (123) shown in FIG. 2. The plurality of robotic arms are shown as including a first robotic arm, a second robotic arm, and a third robotic arm (4026, 4028, 4030), but more robotic arms (e.g., a fourth arm, a fifth arm, a sixth arm, etc.) or fewer robotic arms (e.g., a first arm and a second arm) are also envisioned. The first robotic arm, the second robotic arm, and the third robotic arm (4026, 4028, 4030) extend outwardly from the column (4020). As shown, each of the first robotic arm, the second robotic arm, and the third robotic arm (4026, 4028, 4030) includes joints (4032) that allow for a plurality of degrees of freedom (e.g., 7 degrees of freedom or 8 degrees of freedom). The first robotic arm (4026) is operatively coupled to a surgical instrument (4034) at a first interface (4040). The surgical instrument (4034) is configured to interact with the patient. The surgical instrument (4034) may be similar to the surgical instruments (112, 152, 154, 156) described above.

[0038] The robotic surgical system (4010) includes a plurality of tools. FIG. 6 schematically shows a plurality of robotic tools as including tools (4036, 4038), although more tools (e.g., a third tool, a fourth tool, a fifth tool, a sixth tool, etc.) or fewer tools (e.g., a first tool) are also envisioned. As schematically shown, the second robotic arm (4028) is operably coupled to the tool (4036) at a second interface (4042), and the third robotic arm (4030) is operably coupled to the tool (4038) at a third interface (4044).

[0039] Continuing to refer to FIG. 6, the hub (4014) includes a controller (4046) and an optional sensor (4048). The tools (4036, 4038) are operably coupled to the controller (4046). The disassembling mechanism (4050) of the tool (4036) and / or the disassembling mechanism (4052) of the tool (4038) are configured to separate at least a portion of the surgical instrument (4034) from the robotic surgical system (4010) in response to instructions from the controller (4046). The controller (4046) may autonomously instruct the tool (4036) to separate at least a portion of the surgical instrument (4034) from the robotic surgical system (4010). As used herein, autonomous is intended to mean capable of performing an operation without the need for additional user instructions once initiated. The controller (4046) is configured to instruct the disassembling mechanism (4050) of the tool (4036) to separate the surgical instrument (4034) in response to feedback received from the sensor (4048). In some versions, the sensor (4048) may include an optical sensor configured to determine whether a person is present within the operating room (116).

[0040] Continuing to refer to FIG. 6, the packaging system (4016) includes a labeling device (4054), a packaging device (4056) (e.g., a bagging device), a sealing device (4058), a disposal device (4060), and a recycling device (4062). The labeling device (4054) is configured to dispense a label (4064). The label (4064) may include tool information (e.g., serial number, manufacturing information, usage information, etc.). The packaging device (4056) is configured to dispense a package (4066). The label (4064) may be fixed to the outer surface of the package (4066). In some versions, the label (4064) may already be attached to the package (4066). The package (4066) is configured to receive portions (in some cases) of the surgical instrument (4034) in response to instructions from the controller (4046). The package (4066) may include various shapes, sizes, and forms. For example, the package (4066) may include a flexible bag, a rigid container, and / or a semi-rigid container. The controller (4046) is configured to instruct the tool (4036) and / or the tool (4038) to insert a portion of the surgical instrument (4034) into the package (4066). This may provide bagging capabilities to the personnel in the operating room (116) alongside the patient-side cart (4012).

[0041] The packaging system (4016) functions in cooperation with the patient-side cart (4012) such that when the surgical instrument (4034) is located inside the package (4066), the robotic arms (4026, 4028, 4030) can position the package (4066), enabling the package (4066) to be automatically dispensed, opened, and closed. The sealing device (4058) can seal the package (4066) in response to instructions from the controller (4046) after a portion (or portions) of the surgical instrument (4034) has been received by the package (4066). The recycling device (4062) may include a first transport container and a second transport container (4068, 4070). The first transport container (4068) may be used to transport the package (4066) to a first location, and the second transport container (4070) may be used to ship the package (4066) to a second location different from the first location.

[0042] At least one of the tools (4036, 4038) includes a disassembling mechanism (4050, 4052). The robotic surgical system (4010) achieves the desired disassembly by utilizing at least the interaction between the surgical instrument (4034) and the tool (4036). As will be described in more detail below, the tools (4036, 4038) may utilize separate strokes or forces for disassembly. For example, the tool (4036) may disassemble a first portion of the surgical instrument (4034), and the tool (4038) may disassemble a different second portion of the surgical instrument (4034). Alternatively, the disassembling mechanisms (4050, 4052) of the tools (4036, 4038) may be used in combination (or in combination with other tools (not shown)) to disassemble the surgical instrument (4034). In some versions, the disassembling mechanisms (4050, 4052) of the tools (4036, 4038) may be used in combination simultaneously. In some versions, only the tool (4036) includes the disassembling mechanism (4050), and the tool (4038) includes a surgical instrument (e.g., surgical instruments (112, 152, 154, 156)). Although not shown, in some versions, the surgical instrument (4034) may be used to disassemble at least a portion of the tools (4036, 4038).

[0043] B. Exemplary Surgical Instruments FIG. 7 shows a perspective view of an exemplary surgical instrument (4110) that can be used in place of the surgical instruments (112, 152, 154, 156, 4034). The surgical instrument (4110) can be configured to deliver ultrasonic energy, radio frequency (RF) energy, or both. The surgical instrument (4110) is configured to be operably coupled to a first robotic arm (4026) (see FIG. 6) at a first interface (4040), although the surgical instrument (4110) may alternatively be handheld. The surgical instrument (4110) includes a body (4112), a shaft assembly (4114), and an end effector (4116). The end effector (4116) includes an ultrasonic blade (4118) disposed on a first jaw and a clamp arm (4120) disposed on an opposing second jaw. The clamp arm (4120) is configured to pivot relative to the ultrasonic blade (4118). The body (4112) includes a housing (4122) and a plurality of retrievable components. The housing (4122) is shown as including a first housing portion and a second housing portion (4124, 4126) that may also be referred to as a shroud portion. As shown and described below with reference to FIGS. 9-13B, the first housing portion and the second housing portion (4124, 4126) can be coupled using a variety of different coupling structures.

[0044] Referring back to FIGS. 6 and 7, the first housing portion (4124) is separated from the second housing portion (4126). A plurality of recoverable components are shown as the first recoverable component and the second recoverable component (4128, 4130), although more recoverable components (e.g., a third recoverable component, a fourth recoverable component, etc.) or fewer recoverable components are envisioned. The controller (4046) can autonomously command the disassembly mechanism (4050) and / or the disassembly mechanism (4052) to separate the first recoverable component and the second recoverable component (4128, 4130). In some versions, the surgical instrument (4110) may be in the form of an ultrasonic surgical instrument that includes ultrasonic components. The first recoverable component (4124) includes an ultrasonic waveguide (which may include an ultrasonic blade (4118)). The second recoverable component (4130) includes an ultrasonic transducer. The controller (4046) can autonomously command the disassembly mechanism (4050) and / or the disassembly mechanism (4052) to separate the ultrasonic waveguide and the ultrasonic transducer from the patient side cart (4012). When the first housing portion and the second housing portion (4124, 4126) are released, the second recoverable component (4130) (e.g., the ultrasonic transducer) is exposed for subsequent removal. The surgical instrument (4110) includes a marker (4132) that indicates a predetermined disassembly location to the controller (4046).

[0045] C. Exemplary Surgical Tools FIG. 8 shows a diagram of a second exemplary tool (4210) that can be used in place of tools (4036, 4038). The tool (4210) may also be referred to as a multi-tool. The tool (4210) includes a body (4212) and a plurality of disassembly mechanisms. The body (4212) can rotate around a central point (4228). Although the plurality of disassembly mechanisms are shown as disassembly mechanisms (4214, 4216, 4218, 4220, 4222, 4224), more or fewer disassembly mechanisms are envisioned. The disassembly mechanisms (4214, 4216, 4218, 4220, 4222, 4224) are shown as extending outwardly from a peripheral portion (4226) of the body (4212). The disassembly mechanisms (4214, 4216, 4218, 4220, 4222, 4224) can have various shapes and sizes. The disassembly mechanisms (4214, 4216, 4218, 4220, 4222, 4224) are configured to remove at least a portion of a housing (4122) of a surgical instrument (4110). In some versions, the disassembly mechanisms (4214, 4216, 4218, 4220, 4222, 4224) may be removed and different disassembly mechanisms (4214, 4216, 4218, 4220, 4222, 4224) may be inserted to enable various disassembly mechanisms depending on the surgical instrument (4110) to be disassembled. When the controller (4046) receives a disassembly command (e.g., a device code), the controller (4046) acquires the desired disassembly mechanism (4214, 4216, 4218, 4220, 4222, 4224) and then executes the disassembly command based on that surgical instrument (4110).

[0046] The disassembling mechanism (4214) is shown as a pair of pliers, but may function as a pair of reverse pliers. The disassembling mechanism (4214) includes opposing first and second jaws (4230, 4232) configured to move relative to each other, as shown and described below with reference to FIGS. 9-10. The disassembling mechanism (4216) is shown as a scraper. The disassembling mechanism (4216) is shown as having a flat and blunt distal end (4234), but the distal end (4234) may alternatively be pointed. The disassembling mechanism (4218) is shown as a wedge. The disassembling mechanism (4218) is shown as having a pointed distal end (4236), but the distal end (4234) may alternatively be blunt. The first and second sides (4238, 4240) of the disassembling mechanism (4218) extend outwardly away from the distal end (4236). The disassembling mechanism (4220) is shown as a torque wrench. The distal end (4242) may rotate a fastener for disassembly. The disassembling mechanism (4222) is shown as a screwdriver having a distal end (4244) configured to rotate a fastener for disassembly. The disassembling mechanism (4224) is shown as a pipe cleaner. The disassembling mechanism (4224) may be used to remove debris before the disassembling mechanisms (4214, 4216, 4218, 4220, 4222) are utilized.

[0047] The tool (4210) is shown as including a coupling portion (4245) configured to couple with a second interface (4042) or a third interface (4044). In some versions, the disassembling mechanism (4214, 4216, 4218, 4220, 4222, 4224) may be removable from the body (4212). In some versions, the disassembling mechanism (4214, 4216, 4218, 4220, 4222, 4224) may be injection molded from a single integral part. In some versions, the disassembling mechanism (4214, 4216, 4218, 4220, 4222, 4224) may be manufactured using only metal or only plastic. In some versions, the robotic arms (4028, 4030), tools (4036, 4038), and the accompanying disassembling mechanism (4214, 4216, 4218, 4220, 4222, 4224) are not utilized during normal operation of the surgical instrument (4110), but allow the tools (4036, 4038) to obtain different orientations and access various parts of the patient-side cart (4012), and / or to switch the tools (4036, 4038) and the disassembling mechanism (4214, 4216, 4218, 4220, 4222, 4224).

[0048] 1. First exemplary disassembling mechanism Figures 9-10 show enlarged perspective views of the disassembly mechanism (4214) of FIG. 8. In particular, FIG. 9 shows the disassembly mechanism (4214) used as a reverse plier for crushing the first housing portion and the second housing portion (4124, 4126) of the housing (4122). The opposing first jaw and second jaw (4230, 4232) move from a first configuration (shown in dashed lines) to a second configuration (shown in solid lines) to disassemble the housing (4122) of the surgical instrument (4110) of FIG. 7. In some versions, only one of the first jaw and the second jaw (4230, 4232) moves and the other jaw of the first jaw and the second jaw (4230, 4232) remains stationary. The distal-most ends (4234) of the first jaw and the second jaw (4230, 4232) are shown as being planar, but the first jaw and the second jaw (4230, 4232) may alternatively terminate at a point. This point may further enable the distal-most ends (4234) of the first jaw and the second jaw (4230, 4232) to pry open the housing (4122). The first jaw (4230) includes an inner surface and an outer surface (4246, 4248). Similarly, the second jaw (4232) includes an inner surface and an outer surface (4250, 4252). As shown, the outer surfaces (4248, 4252) of the first jaw and the second jaw (4230, 4232) push against the housing (4122) to crush the housing (4122) or otherwise manipulate the housing (4122) as desired.

[0049] FIG. 10 shows the disassembly mechanism (4214) of FIG. 9 that moves from the third configuration to the fourth configuration to grip a portion of the surgical instrument (4110) of FIG. 7. As shown, the inner surfaces (4246, 4250) of the first jaw and the second jaw (4230, 4232) collectively grip a portion of the surgical instrument (4110) as desired. For example, the outer surfaces (4248, 4252) of the first jaw and the second jaw (4230, 4232) may first be used to access a desired retrievable component, and then the inner surfaces (4246, 4250) of the first jaw and the second jaw (4230, 4232) may be used to remove and orient the retrievable component for the packaging system (4016). The disassembly mechanism (4214) can be used to automatically engage a mechanical key on the first robotic arm (4026).

[0050] 2. Second exemplary disassembly mechanism Figures 11A - 11B show the first housing portion and the second housing portions (4124, 4126) of the surgical instrument (4110) disassembled using the disassembly mechanism (4222) of FIG. 8. In particular, FIG. 11A shows the first housing portion and the second housing portions (4124, 4126) of FIG. 7 joined together in a connected configuration using the mechanical connector (4254) before separating using the disassembly mechanism (4222). FIG. 11B shows the first housing portion and the second housing portions (4124, 4126) of FIG. 11A, but after the disassembly mechanism (4222) of FIG. 11A has moved the mechanical connector (4254) to a disconnected configuration. The disassembly mechanism (4222) functions as a mechanical key to release the first housing portion and the second housing portions (4124, 4126) of the surgical instrument (4110) to enable self - disassembly. The mechanical connector (4254) slides within slots (4256, 4258) of the first housing portion and the second housing portions (4124, 4126). The disassembly mechanism (4222) is shown as translating the mechanical connector (4254) to disengage the first housing portion and the second housing portions (4124, 4126), but the disassembly mechanism (4222) may rotate and / or translate the mechanical connector (4254) to disengage the first housing portion and the second housing portions (4124, 4126). A small predetermined housing mechanism can prevent inadvertent disassembly while still allowing proper access to tools (4036, 4038) to the first housing portion and the second housing portions (4124, 4126).

[0051] 3. The Third Exemplary Disassembly Mechanism Figures 12A - 12B show the first housing portion and the second housing portions (4124, 4126) of a surgical instrument (4110) being disassembled using an exemplary disassembly mechanism (4310) shown as a magnet. The disassembly mechanism (4310) may be included as a stand - alone tool or may be included in a tool (4210). In particular, FIG. 12A shows the first housing portion and the second housing portions (4124, 4126) of FIG. 7 coupled together in a connected configuration using a magnetic connector (4312) prior to separation by the disassembly mechanism (4310). FIG. 12B shows the first housing portion and the second housing portions (4124, 4126) of FIG. 12A, but after the disassembly mechanism (4310) has moved the magnetic connector (4312) to a non - connected configuration.

[0052] The disassembly mechanism (4310) functions as a magnetic key to release the first housing portion and the second housing portions (4124, 4126) of the surgical instrument (4110) to enable self - disassembly. The magnetic connector (4312) slides within slots (4314, 4316) of the first housing portion and the second housing portions (4124, 4126) between a connected configuration and a non - connected configuration. The disassembly mechanism (4310) is shown as translating the magnetic connector (4312) to disengage the first housing portion and the second housing portions (4124, 4126), but the disassembly mechanism (4310) may rotate and / or translate the magnetic connector (4312) to disengage the first housing portion and the second housing portions (4124, 4126). The disassembly mechanism (4310) is shown as attracting the magnetic connector (4312), but alternatively the disassembly mechanism (4310) may repel the magnetic connector (4312).

[0053] 4. The Fourth Exemplary Disassembly Mechanism Figures 13A - 13B show the first housing portion and the second housing portions (4124, 4126) of a surgical instrument (4110) being disassembled using an exemplary disassembly mechanism (4410) shown as an electrolysis mechanism (4410). The disassembly mechanism (4410) may be included as a stand - alone tool or may be included in a tool (4210). In particular, FIG. 13A shows the first housing portion and the second housing portions (4124, 4126) of FIG. 7 coupled together in a connected configuration using an electrically movable connector (4412) before separation using the disassembly mechanism (4410). FIG. 13B shows the first housing portion and the second housing portions (4124, 4126) of FIG. 13A, but after the disassembly mechanism (4410) of FIG. 13A has moved the electrically movable connector (4412) to a disconnected configuration. The electrically movable connector (4412) slides within slots (4414, 4416) of the first housing portion and the second housing portions (4124, 4126).

[0054] The disassembly mechanism (4410) functions as an electric key to release the first housing portion and the second housing portions (4124, 4126) of the surgical instrument (4110) to enable self - disassembly. The disassembly mechanism (4410) is operably connected to a power source (4418) to supply power to the disassembly mechanism (4410). The disassembly mechanism (4410) is shown as translating an electrically movable connector (4412) to disengage the first housing portion and the second housing portions (4124, 4126), but the disassembly mechanism (4410) may rotate and / or translate the electrically movable connector (4412) to disengage the first housing portion and the second housing portions (4124, 4126).

[0055] 5. The Fifth Exemplary Disassembly Mechanism Figures 14A-14B show the housing (4122) of a surgical instrument (4110) separated using an exemplary disassembly mechanism (4510) shown as a laser. The disassembly mechanism (4510) may be included as a stand-alone tool or may be included in a tool (4210). In particular, FIG. 14A shows the housing (4122) in a connected configuration before being separated by the disassembly mechanism (4510). The housing (4122) includes a marker (4132) shown as a recess for orienting the disassembly mechanism (4510) in a desired position. FIG. 14B shows the housing (4122) already separated after the disassembly mechanism (4510) has completely penetrated the housing (4122). The disassembly mechanism (4510) can cut through a specific predetermined area to release a first recoverable component and a second recoverable component (4128, 4130). In some versions, the housing (4122) of the surgical instrument (4110) may be formed from nitinol such that the disassembly mechanism (4510) can apply heat to deform the nitinol material for disassembly.

[0056] 6. The Sixth Exemplary Disassembly Mechanism Figures 15A - 15B show a disassembly mechanism (4610, 4612) shown as a first end effector and a second end effector configured to interact with a patient's tissue. The disassembly mechanism (4610, 4612) can be operably coupled to a second robotic arm and a third robotic arm (4028, 4030). The disassembly mechanism (4610, 4612) is shown moving from a first configuration towards a second configuration. The disassembly mechanism (4610, 4612) may be similar to the end effectors (166, 180, 188, 4116) of the surgical instruments (152, 154, 156, 4110). Each of the disassembly mechanisms (4610, 4612) includes a pivotable clamp arm (4614, 4616) for gripping. A marker (4132) on the housing (4122) highlights a weak portion (4618). The disassembly mechanism (4610, 4612) is configured to separate the weak portion (4618) of the housing (4122) of the surgical instrument (4034) of FIG. 7. FIG. 15B shows a front schematic view of the weak portion (4618) in a cut state.

[0057] In some versions, the disassembly mechanism (4610) is configured to provide a first predetermined force, a first predetermined movement, and / or a first predetermined task to separate at least a portion of the surgical instrument (4110). In some versions, an under - application or an over - application of the first predetermined force does not release the housing (4122). The first predetermined force is greater than the maximum force that a user can manually apply. In other words, the first predetermined force may exceed the force that a user can manually apply to remove the housing (4122). In some versions, both under - application and over - application prevent the housing (4122) from opening fully.

[0058] The disassembling mechanism (4612) is configured to provide a second predetermined force, a second predetermined movement, and / or a second predetermined task independent of the first predetermined force, the first predetermined movement, and / or the first predetermined task applied by the disassembling mechanism (4610) to separate at least a portion of the surgical instrument (4034) in response to an instruction from the controller (4046). By collectively utilizing a plurality of separately applied forces, movements, or tasks, it becomes possible to disassemble a portion of the surgical instrument (4034). For example, the disassembling mechanisms (4610, 4612) of each tool (4036, 4038) may generate a synchronous movement that simultaneously and cooperatively unlocks two or more separate parts to open or remove a portion of the surgical instrument (4034) that the user cannot manually generate a cooperative force for.

[0059] D. Exemplary Tool Dispenser FIG. 16 shows an exemplary tool dispenser (4710) configured to hold a plurality of tools (shown as tools (4712, 4714, 4716, 4718, 4720, 4722)). The tools (4712, 4714, 4716, 4718, 4720, 4722) may be individually packaged in a sterile package. Tool (4712) includes a coupling portion (4724), a shaft (4726), and a disassembling mechanism (4728) similar to the disassembling mechanism (4214) shown in FIGS. 8 - 10. Tool (4714) includes a coupling portion (4730), a shaft (4732), and a disassembling mechanism (4734) similar to the disassembling mechanism (4216) shown in FIG. 8. Tool (4716) includes a coupling portion (4736), a shaft (4738), and a disassembling mechanism (4740) similar to the disassembling mechanism (4218) shown in FIG. 8. Tool (4718) includes a coupling portion (4742), a shaft (4744), and a disassembling mechanism (4746) similar to the disassembling mechanism (4220) shown in FIG. 8. Tool (4720) includes a coupling portion (4748), a shaft (4750), and a disassembling mechanism (4752) similar to the disassembling mechanism (4222) shown in FIG. 8. Tool (4722) includes a coupling portion (4754), a shaft (4756), and a disassembling mechanism (4758) similar to the disassembling mechanism (4224) shown in FIG. 8.

[0060] The coupling portions (4724, 4730, 4736, 4742, 4748, 4754) are configured to couple with a second interface (4042) of the robotic arm (4028) or a third interface (4044) of the robotic arm (4030) shown in FIG. 6. In some versions, the coupling portions (4724, 4730, 4736, 4742, 4748, 4754) may have a base in the shape of an X-cross section pattern or a T-cross section pattern. The user can attach the coupling portions (4724, 4730, 4736, 4742, 4748, 4754) of the tools (4712, 4714, 4716, 4718, 4720, 4722) to the second interface (4042) or the third interface (4044) based on the surgical instrument (4034) to be disassembled.

[0061] The tools (4712, 4714, 4716, 4718, 4720, 4722) can be suspended from the tool dispenser (4710) for subsequent retrieval. As shown, the tool dispenser (4710) includes a pegboard (4760) that includes a recess or opening (4762) that supports a protrusion (4764). The protrusion (4764) supports the tools (4712, 4714, 4716, 4718, 4720, 4722). However, various suitable tool dispensers are also envisioned. The tools (4712, 4714, 4716, 4718, 4720, 4722) are shown as extending horizontally, but the tools (4712, 4714, 4716, 4718, 4720, 4722) may alternatively be arranged at various other angles so as to be received by the robotic arms (4028, 4030). The tools (4712, 4714, 4716, 4718, 4720, 4722) can be selected by the controller (4046) for disassembling the surgical instrument (4034) based on a disassembly command. The disassembly command can be sent to the controller (4046) or another part of the robotic surgical system (4010). The disassembly command may be disposed on the packaging material as shown and described below with reference to FIG. 17.

[0062] E. Exemplary Surgical Kit FIG. 17 shows an exemplary surgical kit (4800) including a package (4802), tools (4720), instrument information (4806), and a surgical instrument (4808). The package defines an interior (4807) and an exterior (4809). For example, the surgical kit (4800) may include both a surgical instrument (4110) and tools (4036, 4038) for coupling and / or disconnecting the surgical instrument (4808) from the robotic surgical system (4010). The surgical kit (4800) may include various surgical instruments (112, 152, 154, 156, 4034, 4110) and tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722). The instrument information (4806) may be in the form of disassembly instructions indicating a desired position and / or orientation of the surgical instrument (4808) for disassembly and / or a computer-readable code that can be read and interpreted by a controller (4046).

[0063] The surgical instrument (4808) may be similar to the surgical instruments (112, 152, 154, 156). The surgical instrument (4808) may be configured to deliver ultrasonic energy, radio frequency (RF) energy, or both. The surgical instrument (4808) may be configured to be handheld or to fit into a corresponding portion of a robotic arm (see FIG. 7). The surgical instrument (4808), like the surgical instruments (112, 152, 154, 156), includes a body assembly (4810), a shaft assembly (4820), and an end effector (4830). The shaft (4822) of the shaft assembly (4820) extends distally from the body assembly (4810) to the end effector (4830). The surgical instrument (4808) differs from the surgical instruments (112, 152, 154, 156) in that the surgical instrument (4808) includes a body assembly, and this body assembly is configured to be easily disassembled and exposed to remove at least one of a plurality of internal components into a separate waste stream. The surgical instrument (4808) is configured to deliver ultrasonic energy similar to that of the surgical instrument (152). The body assembly (4810) surrounds a part of the energy drive system (4840) and a part of the circuit assembly (4850). The energy drive system (4840) includes an ultrasonic transducer (4842), a waveguide (4844), and an ultrasonic blade (4846). The energy drive system (4840) may further include a battery (4848) or a generator (150) (see FIG. 5) configured to supply energy. The ultrasonic transducer (4842) is positioned proximally within the body assembly (4810) and extends distally to the waveguide (4844). The waveguide (4844) extends distally through the shaft assembly (4820) to the ultrasonic blade (4846). The circuit assembly (4850) includes a main circuit board (4852), a memory member (4854), and a controller (4856). The recoverable components may include a part of the body assembly (4810), the shaft assembly (4820), and / or the end effector (4830) that includes components of the energy drive system (4840).

[0064] The body assembly (4810) includes a plurality of selectively removable shroud portions (4812, 4814, 4816, 4818). The shroud portions (4812, 4814, 4816, 4818) are configured to provide support for an energy drive system (4840), a shaft assembly (4820), and a circuit assembly (4850). As shown, the shroud portions (4812, 4814, 4816, 4818) include a first shroud portion (4812), a second shroud portion (4814), a third shroud portion (4816), and a fourth shroud portion (4818), although any number of shroud portions (4812, 4814, 4816, 4818) that block access to the circuit assembly (4850) and the energy drive system (4840) may be included. Each shroud portion (4812, 4814, 4816, 4818) is removably fixed to another shroud portion (4812, 4814, 4816, 4818). The user can remove the shroud portions (4812, 4814, 4816, 4818) to provide access to a portion of the energy drive system (4840) and a portion of the circuit assembly (4850) that are in a disconnected state (see FIG. 6B). When accessed, a portion of the energy drive system (4840) and a portion of the circuit assembly (4850) may be disposed of as separate waste streams. The shroud portions (4812, 4814, 4816, 4818) may include a gripping mechanism (4824). The shroud portions (4812, 4814, 4816, 4818) further include a plurality of alignment mechanisms (4826) configured to align each shroud portion (4812, 4814, 4816, 4818) with an adjacent shroud portion (4812, 4814, 4816, 4818). An example of an alignment mechanism (4826) includes a key (4828) and a keyway (4832). The key (4828) is sized to slide within the keyway (4832).

[0065] FIG. 18 shows the surgical instrument (4808) of FIG. 17 after it has been removed from the packaging (4802) of the surgical kit (4800) and after it has been disassembled using the disassembly mechanism (4804) that was included in the same packaging (4802) of the surgical kit (4800). In the unconnected state, the shroud portions (4812, 4814, 4816, 4818) are separated from each other. Removal of the shroud portions (4812, 4814, 4816, 4818) facilitates access to and removal of at least a portion of the energy drive system (4840) and / or at least a portion of the circuit assembly (4850).

[0066] F. Exemplary Method FIG. 19 shows a schematic view of an exemplary method (4910) for disassembling the robotic surgical system (4010) of FIG. 6. The method (4910) may include steps (4912, 4914, 4916, 4918, 4920, 4922, 4924, 4926, 4928, 4930, 4932, 4934, 4936, 4938, 4940, 4942). However, more or fewer steps are also envisioned.

[0067] In step (4912), method (4910) includes operating a disassembly routine. In some versions, once the disassembly routine is operated, the remaining steps can be executed autonomously without any interaction by the user. For example, at the end of a procedure, the autonomous system can disassemble the surgical instrument (4034) in response to user input. Specifically, a device code may be received by the controller (4046), and the controller (4046) interprets a disassembly command based on the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808). A marker (4132) of the surgical instrument (4110) may be used to assist the patient-side cart (4012) in locating a predetermined disassembly location. For example, at least one of the first housing portion and the second housing portion (4124, 4126) may include a marker (4132) that indicates the position / orientation of the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) to the robot. In some versions, the controller (4046) can sense information regarding the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808), and thus the disassembly operation is performed based on the sensing regardless of the presence or absence of subsequent user intervention.

[0068] In step (4914), method (4910) includes determining whether the surroundings are clear. The controller (4046) checks the available context information before disassembly. For example, the controller (4046) may verify that the patient is away from the operating table (4024) and that the staff is in a safe position away from the robotic surgical system. This determination can be made using at least one of the sensors (4048) in the operating room (116), a badge proximity scanner, a laparoscope camera, and a weight sensor on the operating table (4024). The badge proximity scanner can evaluate whether a user is present in the operating room (116) and where the user is located within the operating room (116). If the surroundings are not clear, in step (4916), the controller (4046) can warn the user. The user may clear the warning manually, or the robotic surgical system (4010) may continuously or periodically evaluate whether the surroundings (e.g., within the operating room (116)) are clear.

[0069] When the surroundings are clear, in step (4918), method (4910) may determine whether surgical instrument (4034) can be disassembled by a robot. The robotic surgical system (4010) provides feedback regarding which surgical instruments (112, 152, 154, 156, 4034, 4110, 4808) can be disassembled, and instructs the user to attach any of the surgical instruments (112, 152, 154, 156, 4034, 4110, 4808) and tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) to the first robotic arm, the second robotic arm, and the third robotic arm (4026, 4028, 4030). If the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) cannot be disassembled by the robot, in step (4920), the surgical instrument (4034) may be manually disassembled. For components of the surgical instrument that cannot be disassembled by the tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) of the second robotic arm and the third robotic arm (4028, 4030), manual instructions may be displayed through a monitor located within the operating room (116).

[0070] In some versions, a first surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) has a first keying, a second surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) has a second keying, and a controller (4046) of a robotic surgical system (4010) accesses a look-up table that notifies the controller (4046) which key pattern to use for the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808). For example, a first-generation device can utilize a first disassembly protocol or program. A second-generation device has an architecture different from that of the first-generation device. The robotic surgical system (4010) can uniquely identify tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) and select a desired disassembly method for the desired generation of the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808).

[0071] If the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) can be disassembled by a robot, in step (4922), the controller (4046) may determine whether the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) is reusable. During disassembly, the robotic surgical system (4010) recognizes appropriate recycling and disposal methods for the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) and the components contained therein. The robotic surgical system (4010) may optionally perform mechanical and / or electrical tests to determine whether the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) can be reused or re-certified. The controller (4046) is configured to perform at least one mechanical or electrical test on the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) to determine the reusability of the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808). The sensor (4048) is configured to sense the area around the robotic surgical system (4010). If the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) is not reusable, in step (4924), the controller (4046) can instruct the first robotic arm, the second robotic arm, and the third robotic arm (4026, 4028, 4030) to desired positions. In step (4926), if the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) cannot be reused, the patient-side cart (4012) disassembles the surgical instrument (4110) in response to an instruction from the controller (4046) to reduce the space in the disposal device (4060). This can assist in the environmentally friendly disposal of the components as instructed.

[0072] When the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) is reusable, in step (4928), the controller (4046) may instruct the first robotic arm, the second robotic arm, and the third robotic arm (4026, 4028, 4030) to move to a desired position. This predetermined position may assist in removing the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808). The robotic surgical system (4010) properly positions the tool (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) such that the first robotic arm, the second robotic arm, and the third robotic arm (4026, 4028, 4030) do not collide and such that the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) and the tool (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) interact with each other appropriately.

[0073] After positioning the first robotic arm, the second robotic arm, and the third robotic arm (4026, 4028, 4030), in step (4930), the controller (4046) may identify a desired disassembling mechanism (4050, 4052, 4214, 4216, 4218, 4220, 4222, 4224, 4310, 4410, 4510, 4610, 4612, 4728, 4734, 4740, 4746, 4752, 4758) and determine whether the desired disassembling mechanism (4050, 4052, 4214, 4216, 4218, 4220, 4222, 4224, 4310, 4410, 4510, 4610, 4612, 4728, 4734, 4740, 4746, 4752, 4758) is currently coupled to the robotic arms (4028, 4030). If the desired disassembling mechanism (4050, 4052, 4214, 4216, 4218, 4220, 4222, 4224, 4310, 4410, 4510, 4610, 4612, 4728, 4734, 4740, 4746, 4752, 4758) is not currently coupled to the robotic arms (4028, 4030), in step (4932), the controller (4046) can instruct the second robotic arm and the third robotic arm (4028, 4030) to couple with a desired tool (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) including the desired disassembling mechanism (4050, 4052, 4214, 4216, 4218, 4220, 4222, 4224, 4310, 4410, 4510, 4610, 4612, 4728, 4734, 4740, 4746, 4752, 4758).

[0074] If a desired disassembling mechanism (which may be plural) (4050, 4052, 4214, 4216, 4218, 4220, 4222, 4224, 4310, 4410, 4510, 4610, 4612, 4728, 4734, 4740, 4746, 4752, 4758) is currently coupled to the robotic arms (4028, 4030) of the patient cart (4012), at step (4934), the controller (4046) may instruct the robotic arms (4028, 4030) to remove a portion of a surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) using the disassembling mechanism (4050, 4052, 4214, 4216, 4218, 4220, 4222, 4224, 4310, 4410, 4510, 4610, 4612, 4728, 4734, 4740, 4746, 4752, 4758). With respect to the surgical instrument (4808), recoverable components may include a portion of the body (4112), the shaft assembly (4114), and / or the end effector (4116) that includes ultrasonic components. With respect to the surgical instrument (4808), recoverable components may include a portion of the body assembly (4810), the shaft assembly (4820), and / or the end effector (4830) that includes components of the energy drive system (4840). The tool (4036) (and optionally the tool (4038)) can apply a predetermined force, movement, or stroke to overcome the connection biasing of the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808). A portion of the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) can be disassembled using the disassembling mechanism (4050, 4052, 4214, 4216, 4218, 4220, 4222, 4224, 4310, 4410, 4510, 4610, 4612, 4728, 4734, 4740, 4746, 4752, 4758) of the tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) in response to an instruction from the controller (4046).

[0075] In step (4936), the controller (4046) can label the package (4066) using the labeling device (4054). In some versions, the controller (4046) assigns a label (4064) indicating one or more characteristics of the recyclable parts (4124, 4126), and the labeling device (4054) can print the label. The package (4066) may be pre-labeled, or the label (4064) may be printed from the labeling device (4054), which may be part of the packaging system (4016) or the hub (4014). In some versions, the hub (4014) can recognize that the recyclable components (4128, 4130) are bagged and distribute the appropriate bags and labels.

[0076] In step (4938), the controller (4046) can instruct the second robotic arm (4028) and the tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) to place a portion in a predetermined container. The robotic surgical system (4010) can place the recoverable components (4128, 4130) within a suitable package (4066). Different types of recycling containers are positioned along the patient-side cart (4012) to provide ease of use and improved efficiency for the operating room personnel. The robotic surgical system (4010) can autonomously detect the disposal device (4060) and the first and second transport containers (4068, 4070). In some versions, the algorithm of the controller (4046) may identify the location of the bag station and autonomously move the recoverable components (4128, 4130) to the appropriate location. A packaging device (4056) that may include a bag dispenser configured to dispense a flexible bag interacts with the controller (4046) such that the robotic arms (4028, 4030) locate the package (4066), and the package is automatically dispensed, opened, and closed when the recoverable components (4128, 4130) are positioned therein. Autonomous bagging and sealing can assist with proper post-operative handling.

[0077] In step (4940), method (4910) may also include using a sealing device (4058) in response to an instruction from a controller (4046) to seal a package (4066) that houses a surgical instrument (112, 152, 154, 156, 4034, 4110, a portion of 4808 (e.g., the retrievable components (4128, 4130))). For example, the controller (4046) may instruct the second robotic arm (4028) and tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) and / or the third robotic arm (4030) and tools (4036, 4038, 4210, 4712, 4714, 4716, 4718, 4720, 4722) to seal the package (4066). The sealing device (4058) may vacuum seal and / or heat seal the retrievable components (4128, 4130) of the surgical instrument (112, 152, 154, 156, 4034, 4110, 4808) after treatment within the package (4066) to prevent cross-contamination and reduce the space around the packaging system (4016).

[0078] In step (4942), the controller (4046) can sort the package (4066) according to a desired location / destination. The robotic surgical system (4010) can incorporate different disposal and shipping instructions based on location-based information, such as country or regional differences and / or the capabilities of a particular medical facility. The retrievable components (4128, 4130) within the package (4066) and the disposable components within the disposal device (4) may be sorted and disposed of in different ways according to regional regulations.

[0079] III. Exemplary Combinations The following examples relate to various non-exhaustive ways in which the teachings of this specification can be combined or applied. It should be understood that the following examples are not intended to limit any claims that may be presented at any point in this application or in subsequent applications 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 can be configured and applied in many other ways. Also, in some variations, it is contemplated that specific features referred to in the following examples may be omitted. Accordingly, none of the aspects or features referred to 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 subsequent applications related to this application include additional features other than those referred to below, those additional features should not be considered to have been added for any reason related to patentability.

Example

[0080] A robotic surgical system comprising: (a) a controller; (b) a surgical instrument configured to interact with a patient, the surgical instrument being operably coupled to the controller; and (c) a tool operably coupled to the robotic surgical system, the tool including a disassembling mechanism, the disassembling mechanism of the tool being configured to separate at least a part of the surgical instrument from the robotic surgical system in response to an instruction from the controller.

Example

[0081] The surgical system according to Example 1, wherein the surgical instrument includes a housing, and the disassembling mechanism includes at least one of a magnetic key, an electric key, or a mechanical key for releasing the housing.

Example

[0082] The robotic surgical system according to Example 1 or 2, wherein the surgical instrument includes a housing, and the disassembly mechanism includes at least one of a torque wrench, a wedge, a reverse pliers, a scraper, or a laser for removing at least a part of the housing.

Example

[0083] The robotic surgical system according to Example 2 or 3, wherein the disassembly mechanism is configured to apply a first predetermined force, a first predetermined movement, or a first predetermined task to separate at least a part of the surgical instrument.

Example

[0084] The robotic surgical system according to Example 4, wherein the first predetermined force is greater than the maximum force manually provided by a user.

Example

[0085] The robotic surgical system according to Example 4 or 5, wherein a part of the surgical instrument includes a housing, and underapplication or overapplication of the first predetermined force does not release the housing.

Example

[0086] The robotic surgical system according to any one of Examples 4 to 6, wherein the disassembly mechanism is configured to apply a second predetermined force, a second predetermined movement, or a second predetermined task independent of the first predetermined force, the first predetermined movement, or the first predetermined task in response to a command from a controller to separate at least a part of the surgical instrument.

Example

[0087] The robotic surgical system according to any one of Examples 4 to 6, further including a second tool including a second disassembly mechanism configured to apply a second predetermined force, a second predetermined movement, or a second predetermined task independent of the first predetermined force, the first predetermined movement, or the first predetermined task in response to a command from a controller to separate at least a part of the surgical instrument.

Example

[0088] The robotic surgical system according to any one of Examples 1 to 8, further comprising a package configured to receive a part of a surgical instrument in response to a command from a controller.

Example

[0089] The robotic surgical system according to Example 9, further comprising a sealing device configured to seal the package after a part of the surgical instrument is received by the package in response to a command from the controller.

Example

[0090] The robotic surgical system according to any one of Examples 1 to 10, wherein the tool includes an end effector configured to interact with a patient's tissue, and the disassembling mechanism includes the end effector.

Example

[0091] The robotic surgical system according to any one of Examples 1 to 11, wherein the surgical instrument includes an ultrasonic surgical instrument, the ultrasonic surgical instrument includes an ultrasonic component, and the controller is configured to autonomously command the disassembling mechanism to separate the ultrasonic component from the ultrasonic surgical instrument.

Example

[0092] The robotic surgical system according to any one of Examples 1 to 12, further comprising a sensor configured to sense an area around the robotic surgical system, and the controller is configured to command the disassembling mechanism of the tool to separate at least a part of the surgical instrument from the robotic surgical system in response to feedback received from the sensor.

Example

[0093] A robotic surgical system described in any one of Examples 1 to 13, wherein the controller is configured to perform at least one mechanical or electrical test on the surgical instrument to determine the reusability of the surgical instrument. [Example]

[0094] 15. The robotic surgical system of any one of Examples 1-14, further comprising: (a) a base; (b) a first robotic arm extending outward from the base, the first robotic arm operably coupled to a surgical instrument; and (c) a second robotic arm extending outward from the base, the second robotic arm coupled to a tool. [Example]

[0095] 1. A robotic surgical system comprising: (a) a base; (b) a controller; (c) a first robotic arm extending outward from the base; (d) a surgical instrument configured to interact with a patient, the surgical instrument being operably coupled to the first robotic arm; (e) a second robotic arm extending outward from the base; and (f) a tool operably coupled to the second robotic arm; and a disassembly mechanism configured to detach at least a portion of the surgical instrument from the robotic surgical system in response to a command from the controller. [Example]

[0096] 1. A method of disassembling a robotic surgical system, the robotic surgical system including a controller, a first robotic arm and a second robotic arm, a surgical instrument, and a tool, the first robotic arm operably coupled to the surgical instrument, the tool being in communication with the controller, the method including disassembling a portion of the surgical instrument operably coupled to the first robotic arm using a disassembly mechanism of the tool operably coupled to the second robotic arm. [Example]

[0097] The robotic surgical system of Example 17, further comprising the act of decomposing including autonomously applying a predetermined force, movement, or stroke to overcome the connection bias of the surgical instrument.

Example

[0098] The robotic surgical system of Example 17 or 18, further comprising identifying a tool that performs the act of decomposition in response to a command from a controller, and then decomposing a part of the surgical instrument in response to a command from the controller.

Example

[0099] The robotic surgical system according to any one of Examples 17 to 19, further comprising, in response to a command from a controller: (a) inserting at least a part of the surgical instrument into a package; and (b) sealing the package containing the part of the surgical instrument using a sealing device.

[0100] IV. Others The above-described variations of the device are applicable not only to conventional medical procedures and surgeries performed by medical professionals, but also to robot-assisted medical procedures and robot-assisted surgeries.

[0101] It should be understood that any of the variations of the instruments described herein may include, in addition to or in place of the above, various other features. By way of example only, any of the instruments described herein may further include one or more of the various features disclosed in any of the various references incorporated herein by reference. The teachings herein may be readily applied to any of the instruments described in any of the other references cited herein, and thus it should also be understood that the teachings herein may be readily combined in many ways with the teachings of any of the references cited herein. Other types of instruments into which the teachings herein may be incorporated will be apparent to those skilled in the art.

[0102] In addition to the above, the teachings of this specification can be readily combined with the teachings of the U.S. patent application entitled "Method of Reclaiming Portions of Surgical Instruments for Remanufacturing and Sustainability" [Attorney Docket No. END9447USNP1.0754992], filed on the same date as this specification, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this specification can be combined with the teachings of U.S. patent application Ser. No. [Attorney Docket No. END9447USNP1.0754992] will be apparent to those skilled in the art upon consideration of the teachings of this specification.

[0103] In addition to the above, the teachings of this specification can be readily combined with the teachings of U.S. patent application Ser. No. [Attorney Docket No. END9448USNP1.0754994] entitled "Surgical Instrument with Predetermined Separation Features for Waste Stream Utilization and Related Methods", filed on the same date as this specification, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this specification can be combined with the teachings of U.S. patent application Ser. No. [Attorney Docket No. END9448USNP1.0754994] will be apparent to those skilled in the art upon consideration of the teachings of this specification.

[0104] In addition to the above, the teachings of this specification can be readily combined with the teachings of U.S. patent application Ser. No. [Attorney Docket No. END9448USNP2.0754977] entitled "Surgical Instrument with Removable Cable and Associated Couplings", filed on the same date as this specification, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this specification can be combined with the teachings of U.S. patent application Ser. No. [Attorney Docket No. END9448USNP2.0754977] will be apparent to those skilled in the art upon consideration of the teachings of this specification.

[0105] In addition to the above, the teachings of this specification can be readily combined with the teachings of the U.S. patent application entitled "Surgical System and Methods of Assembly and Disassembly of Surgical Instrument" [Attorney Docket No. END9448USNP3.0754979], filed on the same day as this specification, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this specification can be combined with the teachings of U.S. patent application Ser. No. [Attorney Docket No. END9448USNP3.0754979] will be apparent to those skilled in the art upon consideration of the teachings of this specification.

[0106] In addition to the above, the teachings of this specification can be readily combined with the teachings of the U.S. patent application entitled "System for Determining Disposal of Surgical Instrument and Related Methods" [Attorney Docket No. END9450USNP1.0754983], filed on the same day as this specification, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this specification can be combined with the teachings of U.S. patent application Ser. No. [Attorney Docket No. END9450USNP1.0754983] will be apparent to those skilled in the art upon consideration of the teachings of this specification.

[0107] In addition to the above, the teachings of this specification can be readily combined with the teachings of the U.S. patent application entitled "Reclamation Packaging for Surgical Instrument and Related Methods" [Attorney Docket No. END9450USNP2.0754999], filed on the same day as this specification, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this specification can be combined with the teachings of U.S. patent application Ser. No. [Attorney Docket No. END9450USNP2.0754999] will be apparent to those skilled in the art upon consideration of the teachings of this specification.

[0108] In addition to the above, the teachings of this specification can be readily combined with the teachings of U.S. Patent Application No. [Attorney Docket No. END9450USNP3.0755001], entitled "Surgical Instrument with Various Alignment Features and Methods for Improved Disassembly and Assembly," filed on the same day as this specification and incorporated herein by reference. Various suitable ways in which the teachings of this specification can be combined with the teachings of U.S. Patent Application No. [Attorney Docket No. END9450USNP3.0755001] will be apparent to those skilled in the art upon consideration of the teachings of this specification.

[0109] In addition to the above, the teachings of this specification can be readily combined with the teachings of U.S. Patent Application [Attorney Docket No. END9450USNP4.0755006], entitled "Surgical System and Methods for Instrument Assessment and Cleaning," filed on the same day as this specification and incorporated herein by reference. Various suitable ways in which the teachings of this specification can be combined with the teachings of U.S. Patent Application No. [Attorney Docket No. END9450USNP4.0755006] will be apparent to those skilled in the art upon consideration of the teachings of this specification.

[0110] It should also be understood that any range of values recited herein is to be read as including the upper and lower limits of such range. For example, a range expressed as "about 1.0 inch to about 1.5 inches" should be read as including about 1.0 inch and about 1.5 inches in addition to the values between those upper and lower limits.

[0111] All or part of any patent, publication, or other disclosure that is referred to as being incorporated herein by reference is incorporated herein only to the extent that the incorporated content does not conflict with existing definitions, opinions, or other disclosure in this disclosure. By itself, and to the extent necessary, the disclosure clearly set forth herein shall supersede any conflicting description incorporated herein by reference. Any content, or portions thereof, that is referred to as being incorporated herein by reference but conflicts with the current definitions, opinions, or other disclosure described herein shall be incorporated only to the extent that no conflict occurs between the incorporated content and the current disclosure content.

[0112] The above-described variants may be designed to be discarded after single use, or they may be designed to be used multiple times. In either or both cases, the variants may be readjusted for reuse after at least one use. Readjustment may include any combination of a device disassembly process, followed by a cleaning or replacement process of specific parts, and a subsequent reassembly process. Specifically, some variants of the device may be disassembled, and any number of specific parts or components of the device may be selectively replaced or removed in any combination. When cleaning and / or replacing specific parts, some variants of the device may be reassembled for subsequent use either in a readjustment facility or by an operator immediately prior to the procedure. One of ordinary skill in the art will understand that various techniques for disassembly, cleaning / replacement, and reassembly can be utilized in the readjustment of the device. The use of such techniques, and the resulting readjusted device, are all within the scope of this application.

[0113] Merely by way of example, the variations described herein can be sterilized before and / or after treatment. In one sterilization technique, the device is placed in a sealed and encapsulated container such as a plastic or TYVEK bag. Next, the container and the device can be placed in a radiation field that can penetrate the container, such as gamma rays, X-rays, or high-energy electron beams. The radiation can kill bacteria on the device and within the container. Next, the sterilized device can be stored in the sterilized container for later use. The device can 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.

[0114] Although various embodiments of the present invention have been shown and described, further adaptations of the methods and systems described herein can be realized without departing from the scope of the present invention by appropriate modifications by those skilled in the art. Some of such possible modifications have been described, but others 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. Accordingly, it is understood that the scope of the present invention should be considered in relation to the following claims and is not limited to the details of the structures and operations shown and described in this specification and the drawings.

[0115] [Embodiment] (1) A robotic surgical system, wherein the robotic surgical system comprises: (a) a controller; (b) a surgical instrument configured to interact with a patient, the surgical instrument being operably coupled to the controller; (c) a tool operably coupled to the robotic surgical system, the tool including a disassembling mechanism, the disassembling mechanism of the tool being configured to separate at least a part of the surgical instrument from the robotic surgical system in response to an instruction from the controller. A robotic surgical system. (2) The robotic surgical system according to embodiment 1, wherein the surgical instrument includes a housing, and the disassembling mechanism includes at least one of a magnetic key, an electric key, or a mechanical key for releasing the housing. (3) The robotic surgical system according to embodiment 1 or 2, wherein the surgical instrument includes a housing, and the disassembling mechanism includes at least one of a torque wrench, a wedge, a reverse pliers, a scraper, or a laser for removing at least a part of the housing. (4) The robotic surgical system according to any one of embodiments 1 to 3, wherein the disassembling mechanism is configured to apply a first predetermined force, a first predetermined movement, or a first predetermined task to separate at least a part of the surgical instrument. (5) The robotic surgical system according to embodiment 4, wherein the first predetermined force is greater than the maximum force manually provided by a user.

[0116] (6) The robotic surgical system according to embodiment 4 or 5, wherein the part of the surgical instrument includes a housing, and under-application or over-application of the first predetermined force does not release the housing. (7) The robotic surgical system according to any one of embodiments 4 to 6, wherein the disassembling mechanism is configured to apply a second predetermined force, a second predetermined movement, or a second predetermined task independent of the first predetermined force, the first predetermined movement, or the first predetermined task in response to the command from the controller to separate at least a part of the surgical instrument. (8) The robotic surgical system according to any one of embodiments 4 to 6, further including a second tool including a second disassembling mechanism configured to apply a second predetermined force, a second predetermined movement, or a second predetermined task independent of the first predetermined force, the first predetermined movement, or the first predetermined task in response to the command from the controller to separate at least a part of the surgical instrument. (9) Further comprising a package, wherein the package is configured to receive the part of the surgical instrument in response to the command from the controller, the robotic surgical system according to any one of Embodiments 1 to 8. (10) Further comprising a sealing device configured to seal the package after the part of the surgical instrument is received by the package in response to the command from the controller, the robotic surgical system according to Embodiment 9.

[0117] (11) The tool includes an end effector configured to interact with the tissue of the patient, and the disassembly mechanism includes the end effector, the robotic surgical system according to any one of Embodiments 1 to 10. (12) The surgical instrument includes an ultrasonic surgical instrument, the ultrasonic surgical instrument includes an ultrasonic component, and the controller is configured to autonomously command the disassembly mechanism to separate the ultrasonic component from the ultrasonic surgical instrument, the robotic surgical system according to any one of Embodiments 1 to 11. (13) Further comprising a sensor configured to sense an area around the robotic surgical system, and the controller is configured to command the disassembly mechanism to separate at least the part of the surgical instrument from the robotic surgical system in response to feedback received from the sensor, the robotic surgical system according to any one of Embodiments 1 to 12. (14) The controller is configured to perform at least one mechanical or electrical test on the surgical instrument to determine the reusability of the surgical instrument, the robotic surgical system according to any one of Embodiments 1 to 13. (15) (a) A base, (b) A first robotic arm extending outwardly from the base and operably coupled to the surgical instrument, the first robotic arm, (c) a second robotic arm extending outwardly from the base, further comprising, wherein the second robotic arm is coupled to the tool, the robotic surgical system according to any one of embodiments 1 to 14.

[0118] (16) A robotic surgical system, wherein the robotic surgical system comprises (a) a base; (b) a controller; (c) a first robotic arm extending outwardly from the base; (d) a surgical instrument configured to interact with a patient, the surgical instrument being operably coupled to the first robotic arm; (e) a second robotic arm extending outwardly from the base; (f) a tool operably coupled to the second robotic arm, the tool comprising a disassembling mechanism configured to separate at least a part of the surgical instrument from the robotic surgical system in response to an instruction from the controller, the robotic surgical system. (17) A method of disassembling a robotic surgical system, wherein the robotic surgical system comprises a controller, a first robotic arm and a second robotic arm, a surgical instrument, and a tool, the first robotic arm being operably coupled to the surgical instrument, the tool communicating with the controller, the method comprising using the disassembling mechanism of the tool operably coupled to the second robotic arm to disassemble a part of the surgical instrument operably coupled to the first robotic arm. (18) The method according to embodiment 17, further comprising autonomously applying a predetermined force, movement, or stroke to overcome a connection bias of the surgical instrument. (19) The method according to embodiment 17 or 18, further comprising identifying the tool that performs the disassembling action in response to the instruction from the controller, and then disassembling the part of the surgical instrument in response to the instruction from the controller. (20) In response to the command from the controller, (a) inserting at least a part of the surgical instrument into the package; (b) using a sealing device to seal the package containing the part of the surgical instrument, the method according to any one of Embodiments 17 to 19, further comprising.

Claims

**Claim 1** A robotic surgical system, wherein the robotic surgical system comprises (a) a controller, (b) a surgical instrument configured to interact with a patient, the surgical instrument being operably coupled to the controller, and (c) a tool operably coupled to the robotic surgical system, the tool including a disassembling mechanism, the disassembling mechanism of the tool being configured to separate at least a part of the surgical instrument from the robotic surgical system in response to an instruction from the controller. A robotic surgical system. **Claim 2** The robotic surgical system according to claim 1, wherein the surgical instrument includes a housing, and the disassembling mechanism includes at least one of a magnetic key, an electric key, or a mechanical key for releasing the housing. **Claim 3** The robotic surgical system according to claim 1 or 2, wherein the surgical instrument includes a housing, and the disassembling mechanism includes at least one of a torque wrench, a wedge, a reverse plier, a scraper, or a laser for removing at least the part of the housing. **Claim 4** The robotic surgical system according to claim 1, wherein the disassembling mechanism is configured to apply a first predetermined force, a first predetermined movement, or a first predetermined task to separate at least the part of the surgical instrument. **Claim 5** The robotic surgical system according to claim 4, wherein the first predetermined force is greater than the maximum force manually provided by a user. **Claim 6** The robotic surgical system according to claim 4 or 5, wherein the part of the surgical instrument includes a housing, and underapplication or overapplication of the first predetermined force does not release the housing. **Claim 7** The robotic surgical system according to claim 4, wherein the disassembling mechanism is configured to apply a second predetermined force, a second predetermined movement, or a second predetermined task independent of the first predetermined force, the first predetermined movement, or the first predetermined task to separate at least the part of the surgical instrument in response to the instruction from the controller. **Claim 8** A second tool further comprising a second decomposition mechanism configured to apply a second predetermined force, a second predetermined movement, or a second predetermined task independent of the first predetermined force, the first predetermined movement, or the first predetermined task to separate at least a portion of the surgical instrument in response to the command from the controller, the robotic surgical system according to claim 4.

9. The robotic surgical system according to claim 1, further comprising a package configured to receive the portion of the surgical instrument in response to the command from the controller.

10. The robotic surgical system according to claim 9, further comprising a sealing device configured to seal the package after the portion of the surgical instrument has been received by the package in response to the command from the controller.

11. The robotic surgical system according to claim 1, wherein the tool includes an end effector configured to interact with the patient's tissue, and the decomposition mechanism includes the end effector.

12. The robotic surgical system according to claim 1, wherein the surgical instrument includes an ultrasonic surgical instrument, the ultrasonic surgical instrument includes an ultrasonic component, and the controller is configured to autonomously command the decomposition mechanism to separate the ultrasonic component from the ultrasonic surgical instrument.

13. The robotic surgical system according to claim 1, further comprising a sensor configured to sense an area around the robotic surgical system, and the controller is configured to command the decomposition mechanism to separate at least a portion of the surgical instrument from the robotic surgical system in response to feedback received from the sensor.

14. The robotic surgical system according to claim 1, wherein the controller is configured to perform at least one mechanical or electrical test on the surgical instrument to determine the reusability of the surgical instrument.

15. (a) a base, (b) a first robotic arm extending outwardly from the base and operably coupled to the surgical instrument. (c) a second robotic arm extending outwardly from the base, and further comprising the second robotic arm being coupled to the tool, the robotic surgical system according to claim 1.

16. A robotic surgical system, the robotic surgical system comprising (a) a base, (b) a controller, (c) a first robotic arm extending outwardly from the base, (d) a surgical instrument configured to interact with a patient, the surgical instrument being operably coupled to the first robotic arm, (e) a second robotic arm extending outwardly from the base, (f) a tool operably coupled to the second robotic arm, the tool including a disassembling mechanism configured to separate at least a portion of the surgical instrument from the robotic surgical system in response to a command from the controller, the robotic surgical system.

17. A method of disassembling a robotic surgical system, the robotic surgical system including a controller, a first robotic arm and a second robotic arm, a surgical instrument, and a tool, the first robotic arm being operably coupled to the surgical instrument, the tool communicating with the controller, the method including using the disassembling mechanism of the tool operably coupled to the second robotic arm to disassemble a portion of the surgical instrument operably coupled to the first robotic arm.

18. The method according to claim 17, wherein the act of disassembling further includes autonomously applying a predetermined force, movement, or stroke to overcome the connection bias of the surgical instrument.

19. The method according to claim 17 or 18, further including identifying the tool that performs the act of disassembling in response to the command from the controller, and then disassembling the portion of the surgical instrument in response to the command from the controller.

20. In response to the command from the controller, (a) inserting at least a portion of the surgical instrument into a package, (b) using a sealing device to seal the package containing the portion of the surgical instrument, the method according to claim 17.

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