Adapters for use with one or more robot systems

Abstract

An adapter for use with one or more robotic manipulators, the adapter comprising: a) a bowl (101) for attachment to a transport system; b) an overtube (102) connected to the bowl (101) with at least one channel for insertion of one or more robotic manipulators; and c) a plurality of controls (118), each adapted to control the diameter of one of the at least one channel, the at least one channel comprising two or more inlets (107) converging into the same channel, each of the two or more inlets (107) located on an opposite side of the bowl (101) or the overtube (102).

Description

[Technical Field]

[0001] The present invention relates generally to devices, and more particularly to adapters, for use with robotic systems. [Background technology]

[0002] Gastric cancer and colorectal cancer are common worldwide and are the leading causes of cancer death worldwide. Minimally invasive surgery is widely used to evaluate diseases and injuries without requiring large incisions during surgery. Among these, endoscopic submucosal dissection (ESD) and endoscopic mucosal resection (EMR) are well-developed for removing precancerous and early-stage cancers in the GI tract. These procedures are performed using a flexible endoscope, allowing patients to recover faster with less pain.

[0003] Commonly used techniques in related surgical platforms include retraction and dissection to improve the effectiveness and safety of the overall operation. Robotic manipulators for retraction and dissection are designed as standalone devices, with the robotic manipulator and endoscopic platform separated. This poses several challenges, including dependency on expensive dual-channel endoscopes, relative motion between these components, and complex deployment procedures inside the patient's body.

[0004] On the one hand, dual-channel endoscopes are commonly used in the current development of surgical robotic systems. On the other hand, one of the drawbacks of using a dual-channel endoscope as a means of transporting a robotic manipulator is that the distance from the camera's field of view to the distal end of the manipulator is too far. On the other hand, in some cases, the viewing angle cannot be adjusted because it is blocked by the manipulator. Summary of the Invention

[0005] The present invention provides an adapter for use with one or more robotic manipulators. In one embodiment, the adapter comprises: a) a bowl (101) for attachment to a transport system; b) an overtube (102) connected to the bowl (101) with at least one channel for inserting the one or more robotic manipulators; and c) a plurality of controls (118), each control (118) adapted to control the diameter of one of the at least one channel, the at least one channel comprising two or more inlets (107) converging into the same channel, each of the two or more inlets (107) located on opposite sides of the bowl (101) or overtube (102).

[0006] The present invention also provides a method for using the adapter of the present invention for surgery. In one embodiment, the adapter of the present invention comprises an overtube (102) detachable from a bowl (101), the method comprising the steps of: a) positioning the overtube (102) at a target location; b) inserting an endoscope or endoscopic camera (106) into one of the at least one channel through one of the two or more inlets (107); c) attaching the bowl (101) to a delivery system; and d) connecting the bowl (101) to the overtube (102). [Brief explanation of the drawings]

[0007] Exemplary, non-limiting embodiments of the present invention are described below with reference to the accompanying drawings. The drawings are illustrative and generally not to scale. Identical or similar elements on different drawings are referred to with the same reference numerals.

[0008] [Figure 1A] 1A-1C show different views of an embodiment of an all-in-one adapter for a flexible robotic manipulator for use with a surgical robotic platform. [Figure 1B]1A-1C show different views of an embodiment of an all-in-one adapter for a flexible robotic manipulator for use with a surgical robotic platform. [Figure 2A] 2A-2D illustrate various embodiments of a transport system for deploying a flexible robotic manipulator on a surgical robotic platform. Figure 2A shows an embodiment of an all-in-one adapter for a flexible robotic manipulator deployed on a custom multi-DOF series robotic arm. [Figure 2B] 2A-2C illustrate various embodiments of a transport system for deploying a flexible robotic manipulator on a surgical robotic platform. Figure 2B shows an embodiment of an all-in-one adapter for a flexible robotic manipulator deployed on a custom multi-DOF series robotic arm. [Figure 2C] Figures 2A and 2B show various embodiments of a transport system for deploying a flexible robotic manipulator on a surgical robotic platform. Figure 2C shows an embodiment of an all-in-one adapter for a flexible robotic manipulator deployed in different configurations on a medically approved robotic arm to avoid collisions with the environment and the operator. [Figure 2D] 2A-2D illustrate various embodiments of a transport system for deploying a flexible robotic manipulator on a surgical robotic platform. Fig. 2D shows an embodiment of an all-in-one adapter for a flexible robotic manipulator deployed in different configurations on a medically approved robotic arm to avoid collisions with the environment and the operator. [Figure 2E] 2A-2D illustrate various embodiments of a transport system for deploying a flexible robotic manipulator on a surgical robotic platform. Figure 2E illustrates an embodiment of an all-in-one adapter for a flexible robotic manipulator deployed on a ceiling-mounted moving arm used in operating rooms. [Figure 3A] 10A-10C illustrate various scenarios for deploying an endoscope or endoscopic camera to position an endoscope overtube. [Figure 3B] 10A-10C illustrate various scenarios for deploying an endoscope or endoscopic camera to position an endoscope overtube. [Figure 3C] 10A-10C illustrate various scenarios for deploying an endoscope or endoscopic camera to position an endoscope overtube. [Figure 4] FIG. 10 illustrates the manipulation of the endoscope overtube by the surgeon in all degrees of freedom. [Figure 5A] FIG. 1 shows a channel for an endoscope or endoscopic camera with two inlets and one outlet. [Figure 5B] FIG. 1 shows a channel for each robotic manipulator with two inlets and one outlet. [Figure 5C] FIG. 13 shows an internal view of the channels for the endoscope or endoscopic camera and robotic manipulator. [Figure 6] FIG. 10 illustrates a typical case in which the all-in-one adapter is removed from the robotic transport system. [Figure 7] 1 shows a typical case of the bowl of the all-in-one adapter where the delivery system is attached to an endoscope overtube positioned within a patient. [Figure 8] FIG. 10 illustrates the angular tilting capabilities of the proximal surface of the endoscope overtube. [Figure 9A] 1A-1C illustrate various embodiments of a bowl. [Figure 9B] 1A-1C illustrate various embodiments of a bowl. [Figure 10] 10A-10C illustrate typical holding positions of the bowl and endoscope overtube by an operator. DETAILED DESCRIPTION OF THE INVENTION

[0009] Described herein is a structure and method for an all-in-one adapter for deploying a flexible robotic manipulator into the human body to perform surgical operations. The all-in-one adapter includes a bowl and an endoscope overtube for receiving various tools, such as an endoscope, an endoscopic camera, or a flexible manipulator, to solve the difficulties in current situations using conventional endoscope devices.

[0010] In one embodiment, the present invention provides a detachable all-in-one adapter for using a flexible robotic manipulator with a surgical robotic platform. A system and method for a bowl and an endoscope overtube in an all-in-one adapter for a flexible robotic manipulator for use with a surgical robotic platform is disclosed. Components of the all-in-one adapter include an endoscope overtube with an internal channel for an instrument, including, but not limited to, a flexible robotic manipulator, an endoscope, or an endoscopic camera; a quick-release and alignment mechanism for attaching the endoscope overtube to the bowl; and a quick-release and alignment mechanism for attaching the bowl and all-in-one adapter to a dock on the surgical robotic platform. All controllable movements of the robotic manipulator are controlled by wire connections between knots and corresponding locations on the robotic manipulator to maintain stable and robust performance of the flexible robotic manipulator. An internal channel within the endoscope overtube can be reserved for use with an endoscope or endoscopic camera. To accommodate different situations, one or more entry points can be used for the same endoscope or endoscopic camera.

[0011] In one embodiment, the present invention provides a delivery system for deploying a flexible robotic manipulator of a surgical robotic platform within the human body. The system is designed to perform minimally invasive or non-invasive surgery in conjunction with the flexible robotic manipulator. The delivery system acts as a sheath for effective force transmission for operation. The system is designed to facilitate the adaptation of the robotic manipulator and reach a designated operating area. An endoscope or endoscopic camera can be inserted to the distal end of the delivery system to provide vision. When the endoscope or endoscopic camera is inserted, yaw and pitch navigation of the delivery system can be driven by the endoscope. The delivery system is operably coupled to the flexible robotic manipulator system. To deploy the continuum robot within the human body, the robotic manipulator can be coupled or decoupled from the delivery system during deployment.

[0012] The present invention provides a device structure for deploying a flexible robotic manipulator in a surgical procedure. In one embodiment, the structure includes a first member, which is an endoscope overtube having multiple internal channels for deploying an endoscope, an endoscopic camera, a flexible robotic manipulator, or any endoscopic surgical tool; a second member, which is a bowl with an embedded flexible robotic manipulator having a quick-release and alignment interface that assembles with the endoscope overtube to form an all-in-one adapter; and a third member, which is a transport system for transporting the all-in-one adapter in various positions and orientations during a surgical procedure to enable accurate placement of the flexible manipulator at a target location inside the human body.

[0013] In one embodiment, the endoscope overtube consists of a flexible tube and a free-moving proximal surface for attachment to the bowl.

[0014] In one embodiment, the bowl has two connection interfaces between the endoscope overtube and the delivery system to provide actuation forces from the delivery system to the wire-controlled flexible robotic manipulator.

[0015] In one embodiment, the transport system can be constructed in different forms with the same intended use, which can be a custom made multi-degree of freedom robotic arm, a commercially available robotic arm, and a ceiling arm.

[0016] In one embodiment, the bending of the distal end of the flexible tube may be driven by bending of the endoscope or endoscopic camera.

[0017] In one embodiment, multiple inlets for channels for endoscopes or endoscopic cameras are available, with Y-shaped intersecting tubes between the inlets and a single outlet channel.

[0018] In one embodiment, multiple inlets of channels for each flexible robotic manipulator are available, with Y-shaped intersecting tubes between the inlets and a single outlet channel.

[0019] In one embodiment, the structure of the present invention provides the user with the opportunity to switch between different entrances to the channel for added freedom of use in different orientations of the endoscope overtube.

[0020] In one embodiment, the structures can be independently operated, where a user can deploy an endoscope overtube along with an endoscope or an endoscopic camera within the human body.

[0021] In one embodiment, each of the portals for the endoscope or endoscopic camera has a locking mechanism for reducing the diameter of the portal to secure the endoscope or endoscopic camera in place.

[0022] In one embodiment, the bowl embeds one or more flexible robotic manipulators that can be controlled by actuation wires.

[0023] In one embodiment, the flexible robotic manipulator is controlled by a wire connection between a knot on the bowl and a wire built inside the flexible robotic manipulator.

[0024] In one embodiment, the bowl has a quick release and alignment interface with the endoscope overtube, to which the endoscope overtube can be attached in 90 degree increments.

[0025] In one embodiment, the bowl has a quick release and alignment interface with the transport system, whereby the actuation motion of the flexible robotic manipulator can be transmitted from a motor internal to the transport system.

[0026] In one embodiment, the bowl is attached to the endoscope tube after the endoscope tube is in place with the delivery system.

[0027] In one embodiment, the delivery system may be manipulated by a human to control the position and orientation of the distal end of the delivery system.

[0028] In one embodiment, the delivery system may be attached to the endoscope overtube in a different position and orientation than the bowl in which the endoscope overtube is positioned by the user.

[0029] In one embodiment, the transport system is in the form of a multi-degree of freedom robotic arm and can be mounted on a mobile terminal for convenient delivery from different locations.

[0030] In one embodiment, the transport system is in the form of a ceiling arm and can be installed in a well-established operating room to minimize the space taken up by the system.

[0031] In one embodiment, the transport system is locked in place unless commanded to be unlocked by a user to change position or orientation.

[0032] In one embodiment, the transport system is locked in place unless commanded to be unlocked by a user to change position or orientation.

[0033] The present invention provides an adapter for use with one or more robotic manipulators. In one embodiment, the adapter comprises: a) a bowl (101) for attachment to a transport system; b) an overtube (102) connected to the bowl (101) with at least one channel for insertion of the one or more robotic manipulators; and c) a plurality of controls (118), each adapted to control the diameter of one of the at least one channel, the at least one channel comprising two or more inlets (107) converging into the same channel, each of the two or more inlets (107) located on opposite sides of the bowl (101) or overtube (102).

[0034] In one embodiment, the overtube (102) is removable from the bowl (101).

[0035] In one embodiment, the one or more robotic manipulators (103) are selected from the group consisting of a peeler (104) and a lifter (105).

[0036] In one embodiment, the one or more robotic manipulators (103) are wire-controlled flexible manipulators.

[0037] In one embodiment, the at least one channel comprises a channel for inserting one or more selected from the group consisting of an endoscope, an endoscopic camera (106), and an endoscopic surgical tool.

[0038] In one embodiment, the adapter further comprises one or more bowls (101).

[0039] In one embodiment, the transport system is selected from the group consisting of a custom-made multi-degree-of-freedom robotic arm (108), a commercially available approved robotic arm (108), and a ceiling-mounted robotic arm (111).

[0040] In one embodiment, the two or more inlets (107) converge into the same channel in a Y-shaped configuration (114).

[0041] In one embodiment, the overtube (102) comprises a tiltable surface for connecting to the bowl (101).

[0042] In one embodiment, said bowl (101) comprises a shape adapted to connect to said transport system.

[0043] In one embodiment, the adapter further comprises a quick release and alignment interface for attachment between the bowl (101) and the overtube (102).

[0044] In one embodiment, the adapter further comprises a quick release and alignment interface for attachment between the bowl (101) and the transport system.

[0045] In one embodiment, the overtube (102) is a flexible tube with a distal end that is actuated by the one or more robotic manipulators (103).

[0046] In one embodiment, at least one of the controls (118) is a knob.

[0047] In one embodiment, the transport system attached to the bowl (101) provides the force to actuate the one or more robotic manipulators (103).

[0048] The present invention also provides a method for using the adapter of the present invention for surgery. In one embodiment, the adapter of the present invention comprises an overtube (102) detachable from a bowl (101), the method comprising the steps of: a) positioning the overtube (102) at a target location; b) inserting an endoscope or endoscopic camera (106) into one of the at least one channel through one of the two or more inlets (107); c) attaching the bowl (101) to a delivery system; and d) connecting the bowl (101) to the overtube (102).

[0049] In one embodiment, step (d) comprises manipulating said bowl (101) with said conveying system.

[0050] In one embodiment, step (d) comprises beveling the proximal surface of said overtube (102) to connect to said bowl (101).

[0051] In one embodiment, step (c) includes attaching the bowl (101) to the transport system at a quick release and alignment interface adapted to transmit forces from the transport system to the one or more robotic manipulators (103).

[0052] In one embodiment, the method further comprises, after step (d), retracting the endoscope or endoscopic camera (106).

[0053] The present invention provides an all-in-one adapter (100) for a robotic manipulator (103) for use with a surgical robotic platform. In one embodiment, the system comprises a removable and flexible endoscope overtube (102) and a bowl (101) assembled with the robotic manipulator (103).

[0054] The endoscope overtube (102) may be removable from the bowl (101) with a quick release and alignment mechanism between them.

[0055] The bowl (101) may be assembled with one or more robotic manipulators (103).

[0056] The robotic manipulator (103) includes, but is not limited to, a dissector (104) with tissue dissection capabilities and a lifter (105) with tissue retraction capabilities.

[0057] Typically, three or more channels are available within the endoscope overtube to provide at least one channel for an endoscope or endoscopic camera (106).

[0058] Within the endoscope overtube for the endoscope or endoscopic camera (106) there are multiple entrances (107) to accommodate different scenarios.

[0059] In one embodiment, there are multiple bowls (101) throughout the system.

[0060] For different situations or installation requirements in different operating rooms, the all-in-one adapter (100) can be installed or attached to different transport systems (108), (109), (111).

[0061] In one embodiment, the all-in-one adapter is attached to a custom-made multi-degree-of-freedom robotic arm (108).

[0062] In one embodiment, the all-in-one adapter is attached to a commercially available, medically approved robotic arm (109).

[0063] Both a custom-made multi-degree-of-freedom robotic arm (108) and a commercially available medically approved robotic arm (109) are mounted on a movable platform to deliver surgical movements to the side of the patient bed, accompanied by at least one operator (110).

[0064] In one embodiment, the transport system can be a ceiling-mounted arm (111) commonly used in operating rooms.

[0065] The endoscope overtube (102) is deployed before attachment to the bowl (101) to ensure that the distal end of the overtube and the endoscope or endoscopic camera (106) are positioned at the target location within the human body.

[0066] The bowl (101) is operated by the surgeon's (112) right hand, and the endoscope or endoscopic camera is operated by the surgeon's (112) left hand.

[0067] The surgeon (112) can deliver an endoscope or endoscopic camera (106) through an inlet (107) on the bowl (101) to the distal end of the endoscope overtube (102).

[0068] The endoscope or endoscopic camera (106) can be retracted from the endoscope overtube (102) at any time to clean the lens.

[0069] The viewing angle of the endoscope or endoscopic camera (106) can be adjusted by rotating the endoscope or endoscopic camera (106) with the left hand of the surgeon (112).

[0070] There are at least two inlets for endoscopes or endoscopic cameras (107) within the endoscope overtube (102), the outlets of which are identical at the distal end of the endoscope overtube (102).

[0071] There are at least two inlets for each robotic manipulator (113) on the proximal surface of the endoscope overtube (102), but the outlets are identical at the distal end of the endoscope overtube (102).

[0072] The mechanism for the multiple inlet single outlet for the endoscope or endoscopic camera channel and the robotic manipulator channel is that there are Y-shaped intersecting tubes (114) inside the endoscope overtube so that each inlet has the same destination.

[0073] In one embodiment, there are no entrances specifically assigned for flexible robotic manipulators (103) or other tools. All entrances are suitable for entry by different flexible robotic manipulators. This can be convenient for surgeons (112) who are left-handed or right-handed, and also allows for more flexibility to handle the complex geometry of the surgical environment.

[0074] A knot (118) at the entrance to the endoscope or endoscopic camera channel is used to reduce the diameter of the channel. The knot (118) resists displacement of the endoscopic camera within the endoscope overtube channel.

[0075] Once the endoscope overtube (102) is positioned, the surgeon (112) may operate the delivery system (111) to attach the bowl (102) to the endoscope overtube (102) in order to deploy the flexible robotic manipulator (103) within the human body.

[0076] The endoscope overtube (102) has a quick release and alignment mechanism (115) for mounting onto the bowl (101) to form the assembled all-in-one adapter (100).

[0077] In one embodiment, the proximal surface of the endoscope overtube (102) is tiltable relative to the remainder of the endoscope overtube (102). This tiltable feature allows for easy compatibility with a bowl (101) already attached to a delivery system (111).

[0078] The flexible robotic manipulator (103) is controlled by wire connections using a connection interface (115) between the endoscope overtube (102) and the bowl (101) and using a knot (116) between the bowl (101) and the transport system (111).

[0079] The shape of the bowl (101) may be changed due to different configurations of the delivery system (111).

Claims

1. An adapter for use with one or more robotic manipulators (103), comprising: a. a bowl (101) for attachment to a transport system; b. an overtube (102) connected to said bowl (101) and having at least one channel for inserting said one or more robotic manipulators; c. a plurality of controls (118), each control (118) adapted to control the diameter of one of said at least one channel; wherein the at least one channel comprises two or more inlets (107) converging into the same channel, each of the two or more inlets (107) being positioned on an opposite side of the bowl (101) or the overtube (102).

2. The adapter of claim 1, wherein the overtube (102) is removable from the bowl (101).

3. The adapter of claim 1 , wherein the one or more robotic manipulators (103) are selected from the group consisting of a peeler (104) and a lifter (105).

4. The adapter of claim 1 , wherein the one or more robotic manipulators (103) are wire-controlled flexible manipulators.

5. 10. The adapter of claim 1, wherein the at least one channel comprises a channel for inserting one or more selected from the group consisting of an endoscope, an endoscopic camera (106), and an endoscopic surgical tool.

6. The adapter of claim 1 , further comprising one or more bowls (101).

7. 2. The adapter of claim 1, wherein the transport system is selected from the group consisting of a custom-made multi-degree-of-freedom robotic arm (108), a commercially available certified robotic arm (108), and a ceiling-mounted robotic arm (111).

8. The adapter of claim 1 , wherein the two or more inlets (107) converge into the same channel in a Y-shaped configuration (114).

9. The adapter of claim 1 , wherein the overtube (102) comprises a tiltable surface for connecting to the bowl (101).

10. 2. The adapter of claim 1, wherein the bowl (101) comprises a shape adapted to connect to the transport system.

11. The adapter of claim 1 , further comprising a quick release and alignment interface for attachment between the bowl (101) and the overtube (102).

12. The adapter of claim 1, further comprising a quick release and alignment interface for attachment between the bowl (101) and the transport system.

13. The adapter of claim 1 , wherein the overtube (102) is a flexible tube with a distal end that is actuated by the one or more robotic manipulators (103).

14. The adapter of claim 1 , wherein at least one of the controls (118) is a knob.

15. The adapter of claim 1 , wherein the transport system attached to the bowl (101) provides a force for actuating the one or more robotic manipulators (103).

16. 10. A method for using the adapter of claim 1 for surgery, wherein the overtube (102) is detachable from the bowl (101), the method comprising: a. positioning the overtube (102) at a target location; b. inserting an endoscope or endoscopic camera (106) into one of said at least one channel through one of said two or more entrances (107); c. Attaching said bowl (101) to a transport system; d. Connecting the bowl (101) to the overtube (102); A method comprising:

17. 17. The method of claim 16, wherein step (d) comprises manipulating the bowl (101) with the conveying system.

18. 17. The method of claim 16, wherein step (d) comprises beveling a proximal surface of the overtube (102) to connect to the bowl (101).

19. 17. The method of claim 16, wherein step (c) comprises attaching the bowl (101) to the transport system at a quick release and alignment interface adapted to transmit forces from the transport system to the one or more robotic manipulators (103).

20. 17. The method of claim 16, further comprising the step of retracting the endoscope or endoscopic camera (106) after step (d).

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