General-purpose surgical robot platform

Abstract

The robotic system includes a processor and a robotic platform that communicates with the processor. The robotic platform is configured to be coupled to a first procedure-specific end-effector. The first procedure-specific end-effector is controllable by the robotic platform and selected to perform a first type of procedure. The processor is configured to receive a first procedure-specific code, execute the first procedure-specific code, and cause the robotic platform to operate the first procedure-specific end-effector to perform the first type of procedure.

Description

Technical Field

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[0001] (Cross - Reference to Related Applications) This application claims the benefit and priority of U.S. Provisional Patent Application No. 63 / 460,698, filed on April 20, 2023; U.S. Provisional Patent Application No. 63 / 536,651, filed on September 5, 2023; and U.S. Utility Patent Application No. 18 / 640,967, filed on April 19, 2024, the contents of each of which are incorporated herein by reference in their entirety.

[0002] This disclosure relates to a general - purpose surgical robot platform and methods of using the same.

Background Art

[0003] Conventionally, surgeries performed by human clinicians are limited by human senses, physical abilities, and judgment. Such limitations can reduce the effectiveness of surgeries performed by human clinicians. In recent years, to address such drawbacks, surgical robots have been developed, which can increase the speed, efficiency, and accuracy of surgeries.

Summary of the Invention

Means for Solving the Problems

[0004] This disclosure relates to a robotic system comprising a processor and a robotic platform in communication with the processor, the robotic platform being configured to couple to a first procedure - specific end - effector, the first procedure - specific end - effector being controllable by the robotic platform and selected to perform a first type of procedure, the processor being configured to receive a first procedure - specific code and cause the robotic platform to execute the first procedure - specific code and operate the first procedure - specific end - effector to perform the first type of procedure.

[0005] The present disclosure relates to a method comprising uploading a first procedure-specific code to a robot platform, the first procedure-specific code, when executed by the processor of the robot platform, causing the robot platform to operate a first procedure-specific end effector to perform a first type of procedure; attaching the first procedure-specific end effector to the robot platform; and causing the robot platform to perform a first type of procedure.

[0006] This disclosure relates to a system for coupling an end effector to a robotic platform, comprising an adapter configured to be coupled to a robotic arm of the robotic platform, and a customized holder that is coupled to the adapter and configured to hold the end effector.

[0007] This disclosure relates to an adapter comprising a body including a first end and a second end that can be coupled to a robot arm, and a cantilever extending distally from the second end of the body, the cantilever including a side that defines a meshing surface of the adapter, the adapter being configured to couple to a customized holder at the meshing surface of the adapter, the meshing surface including an electromagnet and a plurality of protrusions, the plurality of protrusions surrounding the electromagnet and defining one or more recesses between the plurality of protrusions, and the cantilever.

[0008] This disclosure relates to a customized holder comprising a base defining a meshing surface, configured to be coupled to a meshing surface of an adapter, the meshing surface comprising a base including a magnetic metal and a plurality of keys surrounding the magnetic metal; a plurality of cantilevers extending from the base; a locking member rotatably coupled to the plurality of cantilevers at a first end of the locking member; and a retainer configured to receive a second end of the locking member, wherein when the second end of the locking member is received by the retainer, the customized holder causes the end effector to at least partially engage with the plurality of cantilevers The invention relates to a customized holder configured to hold a cantilever within a defined space between the cantilever and a locking member, wherein the cantilever is molded and sized based on an end effector such that, when the second end of the locking member is received by the retainer, it will be held at least partially within a defined space between the cantilever and the locking member, and the locking member is molded and sized based on an end effector such that, when the second end of the locking member is received by the retainer, it will be held at least partially within a defined space between the cantilever and the locking member. [Brief explanation of the drawing]

[0009] This disclosure is further described in the following detailed description with reference to several drawings which should be considered as non-limiting embodiments of exemplary embodiments, where similar reference numerals represent similar parts throughout several figures of the drawings.

[0010] [Figure 1A] Figure 1A depicts a general-purpose surgical robotic platform according to one or more embodiments described herein.

[0011] [Figure 1B] Figure 1B illustrates how to use a general-purpose surgical robotic platform according to one or more embodiments described herein.

[0012] [Figure 2]Figure 2 illustrates a schematic diagram of a general-purpose surgical robot platform according to one or more embodiments described herein.

[0013] [Figure 3] Figure 3 illustrates an exemplary graphical user interface according to one or more embodiments described herein.

[0014] [Figure 4A] Figure 4A illustrates an exemplary end effector coupled to a robot arm via an adapter and holder according to one or more embodiments described herein.

[0015] [Figure 4B] Figure 4B depicts an exploded view of Figure 4A according to one or more embodiments described herein.

[0016] [Figure 5] Figure 5 illustrates an exemplary holmium laser enucleation procedure for the prostate according to one or more embodiments described herein.

[0017] [Figure 6] Figure 6 illustrates an exemplary computing device according to one or more embodiments described herein.

[0018] The drawings identified above illustrate embodiments of the present disclosure, but other embodiments are also considered, as described in the discussion. This disclosure presents illustrative embodiments, not limiting them. Numerous other modifications and embodiments can be devised by those skilled in the art, which fall within the scope and spirit of the principles of the embodiments of the present disclosure. [Modes for carrying out the invention]

[0019] Detailed explanation The effectiveness of surgical techniques has conventionally depended mainly on the skill level and experience of a particular surgeon with respect to a specific surgery. That is, a surgeon may need to perform a certain number of surgeries of a particular type (e.g., holmium laser enucleation of the prostate (HoLEP)) before becoming proficient in performing surgeries so that a desirable and precise surgical outcome can be expected with a high degree of certainty. However, even then, the outcome of surgical techniques is limited by human error on the part of the surgeon. Such errors can be in decision-making and physical accuracy (e.g., the physical manipulation of surgical instruments). Human surgical errors are often associated with deficiencies in the surgeon's ability to accurately visualize the surgical target area within the patient's body and the surgeon's ability to precisely control surgical instruments within the surgical site.

[0020] In recent years, to address such deficiencies, surgical robots have been developed, which can increase the speed, efficiency, and accuracy of surgeries. However, the practicality of such surgical robots is limited due to the need for robots that are specially trained and equipped for a particular technique. That is, a first robot platform is designed and used for a first type of technique, and a second robot platform is designed and used for a second type of technique.

[0021] This disclosure aims to address current shortcomings in modern surgical robot technology using a general-purpose surgical robot platform that can be equipped and modified to perform different types of procedures. The general-purpose surgical robot platform may include a cart or other platform and one or more movable elements such as a robotic arm. The general-purpose surgical robot platform can be modified to perform any desired procedure using procedure-specific code and procedure-specific end-effectors. That is, the platform and movable elements of the general-purpose surgical robot platform can remain unchanged from the first procedure to the second procedure, and new procedure-specific code and one or more procedure-specific end-effectors can be uploaded or attached to the general-purpose surgical robot platform, respectively, to perform the second procedure. Such a modifiable general-purpose surgical robot platform can significantly reduce downtime between surgical procedures and reduce the functional and economic burden of requiring different robotic platforms to perform each unique procedure.

[0022] Referring to FIG. 1A, a general-purpose surgical robot platform 100 is generally depicted. The general-purpose surgical robot platform 100 includes software and hardware components that can be trained or modified to perform various types of procedures. The general-purpose surgical robot platform 100 can include a software interface and a processor, or other controller, that receives an input 200, which can include a procedure-specific code 202 and other data 204, where the other data 204 can be imaging data or kinematic data, etc. The general-purpose surgical platform 100 can include one or more movable robotic arms. A "robotic arm," as the term is used herein, can refer to any mechanically movable element of the general-purpose surgical robot platform 100 that can manipulate an end effector. In some embodiments, the "robotic arm" referred to herein can include a plurality of links coupled together by one or more joints. In some embodiments, the "robotic arm" referred to herein can include a single, non-articulated link. In some embodiments, a "robotic arm" can refer to a flexible element coupled to the general-purpose surgical robot platform 100. The general-purpose surgical platform 100 can include a hardware interface, such as an adapter, configured to receive one or more procedure-specific end effectors 300, as further discussed below with respect to FIGS. 4A and 4B. The hardware interface can enable one or more robotic arms to manipulate one or more procedure-specific end effectors 300 and can enable a non-permanent coupling of one or more robotic arms or other portions of the general-purpose surgical platform 100 with one or more procedure-specific end effectors 300 and equivalents. For example, in some embodiments, the hardware interface can be coupled to the robotic arm and one or more procedure-specific end effectors 300.

[0023] The general-purpose surgical robot platform 100 can autonomously or semi-autonomously perform various types of procedures. Therefore, when discussing the general-purpose surgical robot platform 100 or any component controlled, operated, or moved by the general-purpose surgical robot platform 100 as described herein, “performing” a procedure can mean performing the procedure as a whole, performing the procedure in part, or assisting the surgeon by performing one or more actions in the procedure. In some embodiments, the general-purpose surgical robot platform 100 is modular and can therefore be modified based on a desired procedure. In some embodiments, the general-purpose surgical robot platform 100 includes necessary processing components, can receive and execute procedure-specific codes 202 such as algorithms (i.e., control one or more hardware components according to instructions in the procedure-specific codes, as discussed below). In some embodiments, the general-purpose surgical robot platform 100 can be pre-programmed with various procedure-specific codes 202. In other words, the general-purpose surgical robot platform 100 can be pre-programmed using procedure-specific codes 202 for performing a first type of procedure, procedure-specific codes 202 for performing a second type of procedure, and so on. In some embodiments, the user can upload the procedure-specific codes 202 to the general-purpose surgical robot platform 100 preoperatively. In some embodiments, the user can train the general-purpose surgical robot platform 100 with the procedure-specific codes 202 when the user decides to use the general-purpose surgical robot platform 100 for a specific type of procedure.Specifically, in some embodiments, a user can upload a procedure-specific code 202 for performing a first type of procedure prior to performing a first type of procedure using the general-purpose surgical robot platform 100 preoperatively, and a user can upload a procedure-specific code 202 for performing a second type of procedure prior to performing a second type of procedure using the general-purpose surgical robot platform 100 preoperatively.

[0024] Still referring to Figure 1A, the general-purpose surgical robot platform 100 can be configured to receive other data 204. In some embodiments, simply as an example, the other data 204 can be real-time imaging data from one or more imaging devices such as an ultrasound imaging device, an endoscopic imaging device, a fluoroscopy imaging device, an MRI / ultrasound fusion imaging device, an MRI device, or a CT device. In some embodiments, the imaging device can be separate from the general-purpose surgical robot platform 100. In some embodiments, the imaging device can be part of the general-purpose surgical robot platform 100. That is, the imaging device can be included within the hardware of the general-purpose surgical robot platform 100, and the general-purpose surgical robot platform 100 can control the operation of the imaging device. In some embodiments, one or more imaging devices can be included within a procedure-specific end effector 300 coupled to the general-purpose surgical platform 100 via a hardware interface. The general-purpose surgical robot platform 100 includes necessary processing components that can receive imaging data from the imaging device, analyze the imaging data, and perform one or more actions or procedures based on the imaging data. In other words, for example, the general-purpose surgical robot platform 100 can receive and analyze real-time imaging data during the execution of a surgical procedure, and use the real-time imaging data to guide the operation of the general-purpose surgical robot platform 100 and the procedure-specific end effector 300 coupled to the general-purpose surgical robot platform 100 (i.e., to execute the procedure). It should be understood that the imaging data is merely discussed as an example of other data 204, and kinematic data or other feedback data can also be obtained as other data 204.The general-purpose surgical robot platform 100 can receive and analyze any other type of data 204 during the execution of a surgical procedure, and use the other data 204 to guide the operation of the general-purpose surgical robot platform 100 and the procedure-specific end effector 300 coupled to the general-purpose surgical robot platform 100 (i.e., to perform the procedure).

[0025] Referring here to Figures 1A and 4A, the general-purpose surgical robot platform 100 includes customizable hardware components for performing various types of procedures. For example, the general-purpose surgical robot platform 100 may include one or more robotic arms 120 that are movable via one or more motor controllers and provide any desired range of motion or degrees of freedom. The robotic arms 120 may be coupled to one or more procedure-specific end effectors 300 for performing various procedures. For example, the distal end of a robotic arm 120 may be coupled to a first procedure-specific end effector 300 to perform a first type of procedure, the distal end of a robotic arm may be coupled to a second procedure-specific end effector 300 to perform a second type of procedure, and so on. In some embodiments, the procedure-specific end effectors 300 may be grasped, held, or otherwise coupled to the distal end of one or more robotic arms 120. In some embodiments, the procedure-specific end effector 300 can be non-fixedly coupled to the distal end of one or more robot arms 120. In some embodiments, the procedure-specific end effector 300 can be directly coupled to one or more robot arms 120 such that the robot arms 120 define a hardware interface for coupling the procedure-specific end effector 300 to a general-purpose surgical robot platform 100.

[0026] In some embodiments, the general-purpose surgical robot platform 100 includes an adapter 130. In some embodiments, the adapter 130 can be coupled to the distal end of the robot arm 120. In some embodiments, the procedure-specific end effector 300 can be grasped, held, or otherwise coupled to the adapter 130. In some embodiments, the procedure-specific end effector 300 can be grasped, held, or otherwise coupled to the adapter 130 or in the vicinity of the distal end of the adapter 130. In some embodiments, the procedure-specific end effector 300 can be coupled non-permanently to the adapter 130. In some embodiments, the adapter 130 can define a hardware interface for coupling the procedure-specific end effector 300 to the general-purpose surgical robot platform 100. In some embodiments, the procedure-specific end effector 300 can be directly coupled to the adapter 130.

[0027] In some embodiments, the procedure-specific end effectors 300 can be grasped, held, or otherwise coupled to one or more intermediate components, which themselves are grasped, held, or otherwise coupled to the general-purpose surgical robot platform 100. The intermediate components may be customized holders 400. In some embodiments, the customized holders 400 may be clamps. In some embodiments, one or more intermediate components can be grasped, held, or otherwise coupled to the robotic arm 120 of the general-purpose surgical robot platform 100. In some embodiments, one or more intermediate components can be grasped, held, or otherwise coupled to the adapter 130 of the general-purpose surgical robot platform 100. In some embodiments, the intermediate components can be grasped, held, or otherwise coupled to the adapter 130 or near the distal end of the adapter 130, or to the robotic arm 120 or near the distal end of the robotic arm 120. In some embodiments, the intermediate components can be non-fixedly coupled to the adapter 130 or the robotic arm 120.

[0028] In some embodiments, the procedure-specific end effector 300 can be grasped, held, or otherwise coupled to one or more intermediate components or customized holders 400. In some embodiments, the procedure-specific end effector 300 can be non-fixedly coupled to one or more intermediate components. In some embodiments, the procedure-specific end effector 300 can be directly coupled to an intermediate component. In some embodiments, as will be discussed in more detail below, one or more intermediate components may be customized holders 400 that are physically designed for a particular procedure-specific end effector 300 to be coupled to one or more intermediate components. Thus, in some embodiments, a user can select a particular procedure-specific end effector 300 to be coupled to a general-purpose surgical robot platform 100 in order to perform a desired procedure using the procedure-specific end effector 300, and the user can further select a particular intermediate component or customized holder 400 based on the selected procedure-specific end effector 300 to be coupled to the general-purpose surgical robot platform 100. The procedure-specific end effector 300 can be described as a distal assembly, either alone or together with intermediate components. In some embodiments, the distal assembly can be separated from the general-purpose surgical robot platform 100 by a sterile drape 500.

[0029] Still referring to Figures 1A and 4A, in some embodiments the procedure-specific end effector 300 can be a multipurpose tool 302. The multipurpose tool 302 can be used to perform one or more types of procedures. Simply put, as an example, the multipurpose tool 302 can include a suction device, a rigid or flexible endoscope, a biopsy needle system (e.g., a prostate biopsy system), a transrectal, transvaginal, or transurethral ultrasound probe, or a transcatheter delivery system for cardiovascular procedures. The multipurpose tool 302 is a procedure-specific end effector 300 in that the user intentionally selects the multipurpose tool 302 and connects the multipurpose tool 302 to one or more intermediate components, one or more robotic arms 120, an adapter 130, or otherwise attaches the multipurpose tool 302 to a general-purpose surgical robot platform 100 to perform the desired procedure. In some embodiments, the procedure-specific end effector 300 may be a single-purpose tool 304 that can be used only to perform one type of procedure. In some embodiments, the procedure-specific end effector 300 may be specifically designed or customized for use with a general-purpose surgical robot platform 100. Such a procedure-specific end effector 300 may be modified to specifically pair with or combine with the general-purpose surgical robot platform 100, one or more robotic arms 120, an adapter 130, or one or more intermediate components.

[0030] In some embodiments, the procedure-specific end effector 300 may be directly plugged into the general-purpose surgical robot platform 100. For example, the procedure-specific end effector 300 may be a flexible visualization device (e.g., a cystoscope) or a flexible robot that can be directly plugged into an interface on the general-purpose surgical robot platform 100, and the internal mechanisms of the general-purpose surgical robot platform 100 can directly move and control the procedure-specific end effector 300 without using an additional robotic arm. In some embodiments, the procedure-specific end effector 300 may be directly plugged into the general-purpose surgical robot platform 100 for power supply and operation of the procedure-specific end effector 300.

[0031] Referring here to Figure 1B, a method 150 for operating the general-purpose surgical robot platform 100 is depicted. In step 152, the user can upload a first procedure-specific code 202 to the general-purpose surgical robot platform 100. The first procedure-specific code 202 can enable the general-purpose surgical robot platform 100 to be used to perform a first procedure. The general-purpose surgical robot platform 100 can be used to perform the first procedure autonomously or semi-autonomously with varying degrees of user control and monitoring. The first procedure-specific code 202 can enable the processor of the general-purpose surgical robot platform 100 to control a first procedure-specific end effector 300 for performing the first procedure. For example, the first procedure-specific code 202 can inform the processor of the dimensions, rigidity, and operability (ablation vs. aspiration, ablation temperature, etc.) of the first procedure-specific end effector 300. The first procedure-specific code 202 may include an algorithm for the processor to determine the position of the first procedure-specific end effector 300 relative to the adapter 130, for example, using kinematic feedback or other data 204. In some embodiments, the first procedure-specific code 202 may include an algorithm for the processor to determine the progress of the first procedure based on imaging data (e.g., other data 204) or feedback data regarding the position and operation of the first procedure-specific end effector 300. In some embodiments, the first procedure-specific code 202 may include an algorithm for the processor to identify relevant anatomical landmarks for the first procedure in the imaging data received by the processor and to mark the relevant anatomical landmarks in the imaging data for presentation to the user. It should be understood that these are merely embodiments, and the first procedure-specific code 202 may include an algorithm for the processor to make any procedure-specific decisions, controls, or presentations, such as presenting procedure-specific alerts or alarms, but not limited to these.

[0032] In step 154 ​​of this method, the user can select a procedure-specific end effector 300 to perform the first procedure and connect it to a general-purpose surgical robot platform 100. Embodiments of the procedure-specific end effector 300 are discussed in more detail below. Generally, the procedure-specific end effector 300 can be a device that performs a desired action (imaging, aspiration, irrigation, ablation, etc.) to perform the first procedure.

[0033] In step 158, the user can attach the first procedure-specific end effector 300 to the general-purpose surgical robot platform 100. In some embodiments, to attach the first procedure-specific end effector 300 to the general-purpose surgical robot platform 100, the user can select a first customized holder 400 for coupling the first procedure-specific end effector 300 to the general-purpose surgical robot platform 100. As will be discussed in more detail below, the first customized holder 400 can be an end effector-specific holder. That is, the first customized holder 400 can be specifically sized to receive and hold the first procedure-specific end effector 300 within the first customized holder 400. In some embodiments, the user can first connect the first procedure-specific end effector 300 to the first customized holder 400 (collectively, the “distal assembly”), and then connect the first customized holder 400 to a general-purpose surgical robot platform 100. In some embodiments, the user can first connect the first customized holder 400 to the general-purpose surgical robot platform 100, and then connect the first procedure-specific end effector 300 to the first customized holder 400. In some embodiments, the first customized holder 400 is connected to a robot arm 120. In some embodiments, the first customized holder 400 is connected to an adapter 130 which is connected to the robot arm 120.

[0034] In step 160, the general-purpose surgical robot platform 100 can be used to perform a first procedure. In some embodiments, the general-purpose surgical robot platform 100 can execute a first procedure-specific code 202 and autonomously perform the first procedure. In some embodiments, the general-purpose surgical robot platform 100 can receive user input, execute the first procedure-specific code 202, and semi-autonomously perform the first procedure (for example, based on user commands to guide the movement of the first procedure-specific end effector 300, commands to activate the first procedure-specific end effector 300, etc.).

[0035] In step 162, following the completion of the first procedure, the user can remove the first procedure-specific end effector 300 from the general-purpose surgical robot platform 100. In some embodiments, the user can remove the first customized holder 400 and the first procedure-specific end effector 300 from the general-purpose surgical robot platform 100. In some embodiments, the user can remove the first customized holder 400 from the general-purpose surgical robot platform 100 (e.g., adapter 130), while the first procedure-specific end effector 300 remains coupled to the first customized holder 400.

[0036] In step 164, the user can upload a second procedure-specific code 202 to the general-purpose surgical robot platform 100. The second procedure-specific code 202 can enable the general-purpose surgical robot platform 100 to be used to perform the second procedure. The general-purpose surgical robot platform 100 can be used to perform the second procedure autonomously or semi-autonomously with varying degrees of user control and monitoring. The second procedure-specific code 202 can enable the processor of the general-purpose surgical robot platform 100 to control the second procedure-specific end effector 300 to perform the second procedure. For example, the second procedure-specific code 202 can inform the processor of the dimensions, rigidity, and operability (ablation vs. aspiration, ablation temperature, etc.) of the second procedure-specific end effector 300. The second procedure-specific code 202 may include an algorithm for the processor to determine the position of the second procedure-specific end effector 300 relative to the adapter 130, for example, using kinematic feedback or other data 204. In some embodiments, the second procedure-specific code 202 may include an algorithm for the processor to determine the progress of the second procedure based on imaging data (e.g., other data 204) or feedback data regarding the position and operation of the second procedure-specific end effector 300. In some embodiments, the second procedure-specific code 202 may include an algorithm for the processor to identify relevant anatomical landmarks for the second procedure in the imaging data received by the processor and to mark the relevant anatomical landmarks in the imaging data for presentation to the user. It should be understood that these are merely embodiments, and the second procedure-specific code 202 may include an algorithm for the processor to make any procedure-specific decisions, controls, or presentations, such as presenting procedure-specific alerts or alarms, but not limited to these.

[0037] In step 166, the user can select a second procedure-specific end effector 300 to perform the second procedure and connect it to the general-purpose surgical robot platform 100. Embodiments of the procedure-specific end effector 300 are discussed in more detail below. Generally, the procedure-specific end effector 300 can be a device that performs a desired action (imaging, aspiration, irrigation, ablation, etc.) for performing the second procedure.

[0038] In step 170, the user can attach the second procedure-specific end effector 300 to the general-purpose surgical robot platform 100. In some embodiments, to attach the second procedure-specific end effector 300 to the general-purpose surgical robot platform 100, the user can select a second customized holder 400 for coupling the second procedure-specific end effector 300 to the general-purpose surgical robot platform 100. As will be discussed in more detail below, the second customized holder 400 can be an end effector-specific holder. That is, the second customized holder 400 can be specifically sized to receive and hold the second procedure-specific end effector 300 within the second customized holder 400. In some embodiments, the user can first connect the second procedure-specific end effector 300 and the second customized holder 400 (collectively, the “distal assembly”), and then connect the second customized holder 400 to a general-purpose surgical robot platform 100. In some embodiments, the user can first connect the second customized holder 400 to the general-purpose surgical robot platform 100, and then connect the second procedure-specific end effector 300 to the second customized holder 400. In some embodiments, the second customized holder 400 is connected to a robot arm 120. In some embodiments, the second customized holder 400 is connected to an adapter 130 which is connected to the robot arm 120.

[0039] In step 172, the general-purpose surgical robot platform 100 can be used to perform a second procedure. In some embodiments, the general-purpose surgical robot platform 100 can execute a second procedure-specific code 202 and autonomously perform the second procedure. In some embodiments, the general-purpose surgical robot platform 100 can receive user input, execute a second procedure-specific code 202, and semi-autonomously perform the second procedure (for example, based on user commands to guide the movement of the second procedure-specific end effector 300, commands to activate the second procedure-specific end effector 300, etc.).

[0040] It should be understood that the order of operations discussed in relation to Method 150 is not restrictive. Some steps of Method 150 may be omitted, combined, or performed in different operations. Simply put, as an example, the user may first select the first procedure-specific end effector 300 in step 154, and then upload the first procedure-specific code 202 in step 152.

[0041] Referring here to Figure 2, a block diagram of the general-purpose surgical robot platform 100 discussed with respect to Figures 1A and 1B is depicted. The general-purpose surgical robot platform 100 includes a main processor 702, which can receive procedure-specific codes 202 (e.g., algorithms for performing a specific procedure and executing procedure-specific codes 202). According to the procedure-specific codes, the main processor 702 can directly operate customizable hardware components of the general-purpose surgical robot platform 100, such as the robot arm 120 and the adapter 130 coupled to the robot arm 120 (and consequently, for example, a customized holder 400 and / or a procedure-specific end effector 300 coupled to the robot arm 120 via the adapter 130). The general-purpose surgical robot platform 100 may generally include one or more motor controllers 704. One or more motor controllers 704 can be controlled by the main processor 702 according to procedure-specific codes 202 and according to inputs (e.g., instructions) that the main processor 702 receives from the surgeon. One or more motor controllers 704 can provide motion to one or more customizable hardware components of the general-purpose surgical robot platform 100, such as robotic arms 120. One or more robotic arms 120 can be designed and controlled to have any desired axial, angular, or rotational motion. In some embodiments, the general-purpose surgical robot platform 100 may include a fluid source that can be operated to supply fluid to the procedure-specific end effector 300, if necessary.

[0042] As discussed above, the distal assembly or procedure-specific end effector 300 can be coupled to the robot arm 120 (e.g., via the adapter 130) or to other parts of the general-purpose surgical platform 100. Through coupling or mounting of the procedure-specific end effector 300 to the general-purpose surgical platform 100 and, for example, to the robot arm 120, the main processor 702 can operate the motor controller 704 to move or control the procedure-specific end effector 300 in any desired axial, angular, or rotational motion. The general-purpose surgical robot platform 100 (including, for example, the robot arm 120 or the adapter 130) also includes one or more actuators, controls, or electrical connections that can actuate or change the settings of the procedure-specific end effector 300. For example, if the procedure-specific end effector 300 includes elements for tissue ablation, the general-purpose surgical robot platform 100 may be connected to the procedure-specific end effector 300 so that the general-purpose surgical robot platform 100 can selectively change the settings of the elements (e.g., ablation temperature) and control or energize the elements for tissue ablation during the procedure. Ablation should be understood simply as an embodiment, and the main processor 702 of the general-purpose surgical robot platform 100 may also, for example, provide control signals to activate the laser of the procedure-specific end effector 300. In a further embodiment, the procedure-specific end effector 300 may be controlled to perform an implant deployment sequence that retracts or inserts a sheath or device, or to perform automated or semi-automated resection of specific tissue such as a prostatic lobe.

[0043] In the above description, the main processor 702 can control the motor controller 704 to operate customizable hardware components such as the robot arm 120 or adapter 130, and thus operate the procedure-specific end effector 300 coupled to the customizable hardware component. For example, the main processor 702 can selectively position the procedure-specific end effector 300 within a biological structure, change the settings of the procedure-specific end effector 300 (e.g., change the laser power), and activate the procedure-specific end effector 300 (e.g., fire the laser) through the motor controller 704 and the robot arm 120.

[0044] Still referring to Figure 2, the main processor 702 can be coupled to one or more imaging devices 708, such as a camera or an ultrasound device. The main processor 702 can receive and analyze imaging data in real time, and based on the analysis, can control a motor controller 704, a robotic arm 120, and a procedure-specific end effector 300 as desired to perform a surgical procedure. The imaging data may be other data 204 discussed with respect to Figure 1A. Simply put, as an embodiment, based on the imaging data, the main processor 702 can control the motor controller 704 to guide the procedure-specific end effector 300 to a desired anatomical region in the body. Based on the imaging data, the main processor 702 can identify a specific type of tissue (e.g., a lesion), control the motor controller 704 to operate the procedure-specific end effector 300 to treat the identified tissue (e.g., ablate the lesion). In some embodiments, the main processor 702 can analyze the imaging data and generate a GUI 600 discussed with respect to Figure 3. In addition to, or instead of, imaging data, the main processor 702 receives feedback from one or more sensors (e.g., pressure sensors, position sensors, etc.) positioned on the general-purpose surgical robot platform 100 (e.g., on the robot arm 120) and / or on the procedure-specific end effector 300, and can control the operation of the robot arm 120 and the end effector 300 based on the feedback, as described with respect to imaging data. One or more sensors may provide information regarding the position of the procedure-specific end effector 300. Such information may also be inferred from the inverse kinematics and / or motor state of the robot platform components.Therefore, during a procedure, in addition to procedure-specific codes 202 that instruct the operation of the general-purpose surgical robot platform 100, the operation of the general-purpose surgical robot platform 100 can be continuously modified in real time based on one or more feedback loops that provide real-time image data, sensor data, and / or inferred data to the main processor 702, the real-time data relating to the current position or operation of the general-purpose surgical robot platform 100. It should also be understood that any of the other data 204 discussed above (including imaging data, inverse kinematic data, and equivalents) can be presented to the user (e.g., on the GUI 600), and based on the user's analysis of such data, the user can provide commands to the general-purpose surgical robot platform 100 to perform the procedure.

[0045] The general-purpose surgical robot platform 100 can be modified or customized using procedure-specific codes 202 and procedure-specific end-effectors 300 for any desired surgical procedure involving any biological structure. For example, the general-purpose surgical robot platform 100 can be used in urology. Specifically, simply as an example, the general-purpose surgical robot platform 100 can be used for holmium laser enucleation of benign prostatic hyperplasia, laser-based prostate cancer focus therapy, prostate biopsy, bladder tumor resection, lithotomy or lithotripsy using lasers, shock waves, ultrasound, mechanical extraction devices, or other modalities, and / or any other urological procedure. The general-purpose surgical robot platform 100 can be used to perform any desired specific procedure relating to general fields or anatomical areas such as gynecology, gastrointestinal tract, cardiology, and / or respiratory medicine. This should be understood as an incomplete list of examples, and the general-purpose surgical robot platform 100 can be customized to perform any specific procedure relating to any field or general anatomical area.

[0046] Other non-limiting embodiments of procedures that may be used to perform the general-purpose surgical robot platform 100 include photoselective vaporization of the prostate (PVP), transurethral resection of the prostate (TURP), transperineal or transrectal prostate biopsy, transurethral resection of bladder tumors (TURBT), deployment of prostate or urethral stents, deployment of prostate lift devices, e.g., anterior commissure incision with a balloon, injection of botulinum toxin (Botox) to treat bladder disease, diagnostic cystoscopy or hysteroscopy which may be manipulated and / or assisted by ML or other artificial intelligence, ablation of uterine fibroids, removal of uterine polyps, hysteroscopic myomectomy, and endometrial ablation.

[0047] As a non-limited embodiment outside of urology and gynecology, the general-purpose surgical robot platform 100 can be used for pulmonary valve or stent placement, placement of bronchoscopes or other devices for the treatment of COPD, removal of foreign bodies in the lungs, removal of bronchoscopy tumors or obstructions, colonoscopy, colon polyp removal, endoscopic mucosal or submucosal resection (EMR or ESR) of the colon, stent placement in the intestines, removal of foreign bodies from the intestines, fecal mass removal, intestinal stricture dilation, functional endoscopic sinus surgery (FESS), endoscopic septoplasty, and / or endoscopic ear surgery.

[0048] Referring here to Figures 1A and 3, in some embodiments the general-purpose surgical robot platform 100 may include a guidance system which is informed by imaging (e.g., from one of the imaging devices described above), the physical position of a procedure-specific end effector 300 (discussed further below), and / or an algorithm. In some embodiments, the algorithm incorporates machine learning (ML). While ML is specifically discussed herein, it should be understood that this is merely an embodiment, and the guidance system may be informed by an algorithm which incorporates any artificial intelligence system (e.g., neural networks or deep learning, etc.) in addition to, or instead of, ML. In some embodiments, the guidance system may include an anatomical "Global Positioning System (GPS)" which informs the surgeon of the precise real-time position of the procedure-specific end effector 300 being used and the relative position of the procedure-specific end effector 300 in relation to the patient's body, organs, or certain anatomical structures.

[0049] Referring to Figure 3, an exemplary graphical user interface (GUI) 600 presented to the user or surgeon by the guidance system is depicted. The GUI 600 can provide a real-time feed of imaging data 602. "Landmark identification" can be informed by surgeon input, computer vision, imaging system, and / or ML, which can assist in determining the location of anatomical structures within the patient's biological structure. The GUI 600 can present the user with markers 640A-D across anatomical landmarks. In some embodiments, markers 604A-D can be generated, for example, automatically, based on computer vision, imaging system, and / or ML. In some embodiments, markers 604A-D can be added by input from the surgeon via the GUI 600. In some embodiments, the GUI 600 can present schematic cross-sectional views 606A, 606B of the surgical site showing the location of a procedure-specific end effector 300 within the surgical site.

[0050] In some embodiments, the guidance system can use surgeon input, computer vision, and / or ML to identify specific surgical actions within the current phase of the procedure and / or within that phase or throughout the procedure. In some cases, the system can use information about the phase, continuing surgical actions, current procedure-specific end-effector 300 position, and / or anatomical landmark position to alert the surgeon via the GUI 600 to potential risks, recommend steps of action, or display additional relevant information about the surgical procedure. In specific cases of holmium laser enucleation of the prostate (HoLEP) or other prostate enucleation procedures, the phases may include procedure setup, enucleation, debridement, hemostasis, and transition phases before, after, or between those phases. Landmarks may include the bladder neck, external urethral sphincter (EUS), ureteral orifice (UO), seminal cumulus, ejaculatory duct, bladder neck fibers, prostatic vessels, prostatic capsule, surgical plane within the prostate, and in particular, the plane between adenomas and capsules, stones, tumors, diverticula, and other structures. GPS can provide a map of the prostate, bladder, urethra, and / or other pelvic structures. GPS can draw information from surgeon input, ML models trained on other patients, cystoscopy, ultrasound, MRI, CT, or other imaging, knowledge of the general shape and size of the prostate, and other sources. In some embodiments, the guidance system may provide artificial intelligence-based localization and navigation during the procedure.

[0051] In particular, referring to Figures 4A and 4B, the detailed structure of the adapter 130 and customized holder 400 of the general-purpose surgical robot platform 100 will be discussed. In some embodiments, the adapter 130 includes a body 132 and a cantilever 134 extending from the body 132. In some embodiments, the body 132 of the adapter 130 can be permanently coupled to the robot arm 120. In some embodiments, the body 132 of the adapter 130 can be non-permanently coupled to the robot arm 120. In some embodiments, the cantilever 134 extends distally from the body 132 of the adapter 130. In some embodiments, the cantilever 134 extends distally from the lateral edge of the adapter 130. In some embodiments, the cantilever 134 includes a cleavage surface 136, at which the adapter 130 is coupled to the customized holder 400. In some embodiments, the cleavage surface 136 can be a side of the cantilever 134. In other words, in some embodiments, the meshing surface 136 can be the lateral surface of the cantilever 134.

[0052] In some embodiments, the mating surface 136 may include a magnet 138. In some embodiments, the magnet 138 may be an electromagnet. Although not depicted, the adapter 130 may include one or more electrical connections that supply electricity to the electromagnet 138. One or more electrical connections may extend through the cantilever 134 or body 132 of the adapter 130. One or more electrical connections may be electrically coupled to a power source. In some embodiments, the power source may be provided by a general-purpose surgical robot platform 100. In some embodiments, the mating surface 136 of the adapter may include a plurality of protrusions 140. The plurality of protrusions 140 may extend outward from the mating surface 136. In some embodiments, the plurality of protrusions 140 surround the magnet 138. In some embodiments, one or more recesses 142 are defined between the plurality of protrusions 140.

[0053] In some embodiments, the adapter 130 can be configured to connect any desired procedure-specific end effector 300 to a general-purpose surgical robot platform 100. More specifically, in some embodiments, a single adapter 130 can be used to connect any desired procedure-specific end effector 300 to a general-purpose surgical robot platform 100. That is, the user can remove a first procedure-specific end effector 300 from the general-purpose surgical robot platform 100 and attach a second procedure-specific end effector 300 to the general-purpose surgical robot platform 100 without having to modify the adapter 130 on the general-purpose surgical robot platform 100.

[0054] In some embodiments, the customized holder 400 includes a base 402. The base 402 may include a meshing surface 404, on which the customized holder 400 is coupled to the adapter 130. In some embodiments, the meshing surface 404 may be a lateral surface of the base 402. In some embodiments, the meshing surface 404 of the base 402 may engage with a meshing surface 136 of the adapter 130, thereby coupling the customized holder 400 to the adapter 130. In some embodiments, the meshing surface 404 may include a magnetic metal (not described). In some embodiments, the magnetic metal may be an iron-based metal. In some embodiments, the magnetic metal of the meshing surface 404 may be magnetically attracted to a magnet 138. In some embodiments, the magnetic metal of the meshing surface 404 of the base 402 may engage with the magnet 138 of the adapter 130, thereby magnetically coupling the adapter 130 and the customized holder 400. The customized holder 400 is described in particular as including a magnetic metal for coupling with the magnet 138 of the adapter 130, but this should be understood as a non-limiting embodiment. In some embodiments, the meshing surface 404 may include any material that exhibits magnetic properties so as to be able to magnetically couple with the magnet 138 of the adapter 130.

[0055] In some embodiments, the meshing surface 404 may include a plurality of keys 406. In some embodiments, the plurality of keys 406 may surround the magnetic metal of the customized holder 400. In some embodiments, each of the plurality of keys 406 may be molded and sized to be received in each recess 142 of the adapter 130. When positioned in the recess 142, each key 406 may be positioned between two of the projections 140. By inserting the keys 406 into each recess 142, the user can ensure that the customized holder 400 is coupled to the adapter 130 in the desired orientation. The engagement of the keys 406 with each of the adjacent projections 140 of each key can prevent the customized holder 400 from rotating out of the proper orientation with the adapter 130. In some embodiments, the keys 406 may be positioned around the periphery of the meshing surface 404.

[0056] In some embodiments, the customized holder 400 may include a mold 408. The mold 408 may extend from the base 402 of the customized holder 400. The mold 408 may extend from the surface of the base 402 facing the meshing surface 404. In some embodiments, the mold 408 may be molded and sized to receive a particular procedure-specific end effector 300. In particular, in some embodiments, the mold 408 may have a shape and size corresponding to the shape and size of the procedure-specific end effector 300. The mold 408 may be molded and sized at least partially to define a negative space corresponding to the contour of the procedure-specific end effector 300 so as to be received within the customized holder 400.

[0057] In some embodiments, the customized holder 400 may include a plurality of cantilevers 410. In some embodiments, the plurality of cantilevers 410 may be a pair of cantilevers 410. The plurality of cantilevers 410 may extend from the base 402 of the customized holder 400. The plurality of cantilevers 410 may extend from the surface of the base 402 facing the meshing surface 404. In some embodiments, the mold 408 may be positioned between the pair of cantilevers 410. In some embodiments, the plurality of cantilevers 410 may be positioned toward the first end of the mold 408. In some embodiments, the cantilevers 410 may define brackets for receiving pins between them so that the cantilevers 410 define a pin joint. In some embodiments, each cantilever 410 may be molded and sized to receive a particular procedure-specific end effector 300. In particular, in some embodiments, each cantilever 410 may have a shape and size corresponding to the shape and size of a procedure-specific end effector 300. Each cantilever 410 may be molded and sized, at least partially, to define a negative space corresponding to the contour of the procedure-specific end effector 300 so as to be received within a customized holder 400.

[0058] In some embodiments, the customized holder 400 may include a locking member 412. In some embodiments, the locking member 412 may be rotatably coupled to the cantilever 410. Specifically, in some embodiments, the locking member 412 may be rotatably coupled to the cantilever 410 at a first end of the locking member 412. In some embodiments, the locking member 412 is positioned between a pair of cantilevers 410. In some embodiments, the locking member 412 may be molded and sized to receive a particular procedure-specific end effector 300. In particular, in some embodiments, the locking member 412 may have a shape and size corresponding to the shape and size of the procedure-specific end effector 300. The locking member 412 may be molded and sized, at least partially, to define a negative space corresponding to the contour of the procedure-specific end effector 300 so as to be received within the customized holder 400.

[0059] In some embodiments, the customized holder 400 may include a locking member 412. In some embodiments, the locking member 412 may be rotatably coupled to the cantilever 410. Specifically, in some embodiments, the locking member 412 may be rotatably coupled to the cantilever 410 at a first end of the locking member 412. In some embodiments, the locking member 412 is positioned between a pair of cantilevers 410. In some embodiments, the locking member 412 may be molded and sized to receive a particular procedure-specific end effector 300. In particular, in some embodiments, the locking member 412 may have a shape and size corresponding to the shape and size of the procedure-specific end effector 300. The locking member 412 may be molded and sized, at least partially, to define a negative space corresponding to the contour of the procedure-specific end effector 300 so as to be received within the customized holder 400.

[0060] In some embodiments, the customized holder 400 may include a retainer 414. In some embodiments, the retainer 414 may be positioned at a second end of the mold 408, opposite the cantilever 410. In some embodiments, the retainer 414 may be configured to receive and hold a second free end of the locking member 412. In some embodiments, the retainer 414 may include a threaded member that is received within the second free end of the locking member 412, and a nut or other threaded fastener can be secured to the threaded member to hold the locking member 412 in a closed position. It should be understood that the retainer 414 may include any desired fastening mechanism that can receive and hold the second free end of the locking member 412. For example, in some embodiments, the second free end of the locking member 412 and the retainer 414 may include corresponding features so that the locking member 412 and the retainer 414 can engage with each other in a snap-fit ​​arrangement. In another embodiment, in some embodiments, the second free end of the locking member 412 and the retainer 414 may include features that are sized to correspond so that the locking member 412 and the retainer 414 can engage with each other in a friction mating arrangement. In yet another embodiment, in some embodiments, the second free end of the locking member 412 and the retainer 414 may include features that are sized to correspond so that the locking member 412 and the retainer 414 can be magnetically coupled.

[0061] The retainer 414 can be configured to hold the locking member 412 in a closed position. When the locking member 412 is in the closed position, as shown in Figure 4A, the locking member 412, the cantilever 410, and the mold 408 can define a negative space that is molded and sized to secure a specific procedure-specific end effector 300 within a customized holder 400. For example, the internal surfaces of the locking member 412, the cantilever 410, and the mold 408 (e.g., surfaces that define the negative space) can be contoured, molded, and sized to define a negative space corresponding to the circumference of the procedure-specific end effector 300, at a position along the procedure-specific end effector 300, so that they are received within the customized holder 400. The shape and size of the locking member 412, the cantilever 410, and the mold 408 ensure that a particular procedure-specific end effector 300 is held within the customized holder 400 during the procedure without allowing undesirable movement of the procedure-specific end effector 300 relative to the customized holder 400. The shape and size of the locking member 412, the cantilever 410, and the mold 408 ensure that the functionality (e.g., movement and operation) of the particular procedure-specific end effector 300 is not hindered by the customized holder 400.

[0062] Multiple customized holders 400 can be used in conjunction with the general-purpose surgical robot platform 100. Each of the multiple customized holders 400 may include the same base 402 and engagement surface 404. Thus, each of the multiple customized holders 400 can be coupled to the engagement surface 136 of the single adapter 130 of the general-purpose surgical robot platform 100. Each of the multiple customized holders may include a uniquely molded and sized locking member 412, cantilever 410, and mold 408 so that each customized holder 400 is specifically molded and sized to receive and hold a single, specific procedure-specific end effector 300.

[0063] Therefore, simply as an embodiment, a user can select a first procedure-specific end effector 300 for use during a first procedure. The user can then select a first customized holder 400 that is specially molded and sized to hold and retain the first procedure-specific end effector 300. The first procedure-specific end effector 300 can then be placed within the first customized holder 400, and the locking member 412 of the first customized holder 400 can be brought into a closed position, thereby retaining the first procedure-specific end effector 300 within the customized holder 400. The first customized holder 400 can then be coupled to an adapter 130 of a general-purpose surgical robot platform 100 for performing the first procedure. It should be understood that in some embodiments, a first customized holder 400 can first be coupled to the adapter 130, and a first procedure-specific end effector 300 can then be installed within the customized holder 400. After completion of the first procedure, the user can remove the first customized holder 400, including the first procedure-specific end effector 300, from the general-purpose surgical robot platform 100. The user can then select a second procedure-specific end effector 300 for use during a second procedure. The user can then select a second customized holder 400 that is specially molded and sized to hold and retain the second procedure-specific end effector 300. The second procedure-specific end effector 300 can then be placed in the second customized holder 400, and the locking member 412 of the second customized holder 400 can be brought to a closed position, allowing the second procedure-specific end effector 300 to be held in the customized holder 400. The second customized holder 400 can then be coupled to the adapter 130 of the general-purpose surgical robot platform 100 to perform the second procedure.Therefore, different procedure-specific end effectors 300 can be used in conjunction with the general-purpose surgical robot platform 100 without modifying the general-purpose surgical robot platform.

[0064] In some embodiments, the magnet 138 of the adapter 130 is an electromagnet, and the adapter 130 and the customized holder 400 can be configured to discouple in the event of a loss of power during the procedure. In particular, a loss of current to the electromagnet 138 can cause the electromagnet 138 to discouple from the magnet of the customized holder 400. By doing so, injury to the patient on whom the general-purpose surgical robot platform 100 is being operated can be prevented. In particular, by discouplering the customized holder 400 (which may hold a procedure-specific end effector 300 within the user's biostructure) from the adapter 130, it can be ensured that the weight of the robot arm 120 is not applied to the user's biostructure (for example, when the robot arm loses motion control), which can prevent injury to the patient.

[0065] In some embodiments, the size or strength of any magnet 138, the size or density of the magnetic material of the meshing surface 404 of the customized holder 400, the size and shape of the protrusions 140, the size and shape of the recesses 142, and the size and shape of the keys 406 can be specifically selected to achieve a desired coupling strength between the adapter 130 and the customized holder 400. In particular, the desired coupling strength can allow for disengagement of the customized holder 400 from the adapter 130 due to a desired torque when an undesirably large torque is applied to the procedure-specific end effector 300 (and thus the joint between the adapter 130 and the customized holder 400 due to various coupling parts).

[0066] From the above description, it should be understood that the general-purpose surgical robot platform 100 can be modified to perform any type of desired procedure throughout its entire lifespan. That is, the general-purpose surgical robot platform 100 can be continuously modified as desired using the necessary procedure-specific codes 202 and procedure-specific end effectors 300 to perform different procedures. For example, a user can upload procedure-specific codes 202 for a first type of procedure to the general-purpose surgical robot platform 100 and attach one or more procedure-specific end effectors 300 for the first type of procedure to the general-purpose surgical robot platform 100. The general-purpose surgical robot platform 100 can then perform the first type of procedure. Following the completion of the first procedure, the user can remove the procedure-specific end effectors 300 for the first type of procedure from the general-purpose surgical robot platform 100. The user can then upload a procedure-specific code 202 for the second type of procedure to the general-purpose surgical robot platform 100, and attach one or more procedure-specific end effectors 300 for the second type of procedure to the general-purpose surgical robot platform 100, which can then perform the second type of procedure.

[0067] Referring to Figure 5, the general-purpose surgical robot platform 100 can significantly improve HoLEP procedures. Procedure-specific codes 202 are uploaded to the general-purpose surgical robot platform 100, enabling the performance of HoLEP or variant procedures (e.g., ejaculation-preserving HoLEP, thulium laser enucleation of the prostate (ThuLEP), green light laser enucleation of the prostate (GreenLEP)). Procedure-specific end effectors 300, such as rigid cystoscopes, resecting endoscopes, or nephroscopes, cystoscopies, resecting endoscopes, or nephroscopy sheaths, holmium, thulium (for ThuLEP), green light (for GreenLEP), or blue light lasers, laser fibers, morcellators, and / or irrigation systems, can be coupled to customizable hardware components such as the robotic arms 120 or adapters 130 of the general-purpose surgical robot platform 100. During the HoLEP procedure, the general-purpose surgical robot platform 100 can control the robotic arm 120 and position the procedure-specific end effector 300 in the patient's prostate (with or without guidance from real-time feedback data as described above), and the general-purpose surgical robot platform 100 can control the procedure-specific end effector 300 to remove the adenoma from the prostate, emit the laser, activate the morcellator, manipulate the prostate tissue, and / or modify the laser power.

[0068] The general-purpose surgical robot platform 100 can fully autonomously perform surgical procedures using procedure-specific codes 202 and, optionally, the feedback data discussed above. The general-purpose surgical robot platform 100 can also be operated manually or semi-autonomously. In such cases, real-time feedback data (e.g., imaging data or other sensor data) can be used by a human operator to control or adjust the operation of the general-purpose surgical robot platform 100. In such cases, the general-purpose surgical robot platform 100 can provide the user with one or more alerts or notifications, such as tactile feedback, based on the feedback data. The general-purpose surgical robot platform 100 can be used to perform any desired endoscopic procedure.

[0069] While the embodiments are discussed using real-time imaging data to guide the general-purpose surgical robot platform 100 or for a user to control the operation of the general-purpose surgical robot platform 100, it should be understood that preoperatively acquired imaging data can also be used to guide or control the operation of the general-purpose surgical robot platform 100.

[0070] Techniques operating in accordance with the principles described herein may be implemented in any preferred manner. The processing steps and processes described above may be included in algorithms that perform the various processes discussed above. Algorithms derived from these processes may be implemented as software that is integrated with and directs the operation of one or more single or multi-purpose processors, as functional equivalent circuits such as digital signal processing (DSP) circuits, field-programmable gate arrays (FPGAs), or application-specific integrated circuits (ASICs), or in any other preferred manner.

[0071] Therefore, in some embodiments, the techniques described herein may be embodied in computer executable instructions implemented as software, the software including application software, system software, firmware, middleware, embedded code, or any other suitable type of software. Such computer executable instructions may be written using any of several suitable programming languages ​​and / or programming or scripting tools, and may also be compiled as executable machine language code or intermediate code to run on a framework or virtual machine.

[0072] When the techniques described herein are embodied as computer executable instructions, these computer executable instructions may be implemented in any preferred manner, including several functional facilities, each providing one or more actions to complete the execution of an algorithm operating according to these techniques. However, an instantiated “functional facility” is a structural component of a computer system that, when integrated with and executed by one or more computers, causes one or more computers to perform a specific operational role. A functional facility may be part or all of a software element. For example, a functional facility may be implemented as a function of a process, or as a discrete process, or as any other preferred unit of processing. When the techniques described herein are implemented as multiple functional facilities, each functional facility may be implemented in its own way; that is, they do not all need to be implemented in the same way. In addition, these functional facilities may be executed in parallel and / or sequentially as needed, and may exchange information with each other using shared memory on the computer in which they are running, using message passing protocols, or in any other preferred manner.

[0073] Generally, functional facilities include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstraction data type. Typically, the functionality of functional facilities may be combined or distributed within the system in which they operate, as desired. In some implementations, one or more functional facilities performing the techniques described herein may together form a complete software package. These functional facilities may, in alternative embodiments, interact with other unrelated functional facilities and / or processes and be adapted to implement a software program application.

[0074] Several exemplary functional facilities are described herein for performing one or more tasks. For example, program-specific code discussed herein may include one or more functional facilities for performing the methods described above. However, it should be understood that the functional facilities and task divisions described herein are merely illustrations of types of functional facilities that can implement the exemplary techniques described herein, and embodiments are not limited to being implemented in any specific number, division, or type of functional facilities. In some implementations, all functionality may be implemented within a single functional facility. Also, in some implementations, some of the functional facilities described herein may be implemented together with others or separately (i.e., as a single unit or separate units), or some of these functional facilities may not be implemented at all.

[0075] Computer-executable instructions implementing the techniques described herein (when implemented as one or more functional facilities or in any other form) may, in some embodiments, be encoded on one or more computer-readable media to provide functionality to the media. Computer-readable media include magnetic media such as hard disk drives, optical media such as compact discs (CDs) or digital multipurpose discs (DVDs), persistent or non-persistent solid-state memory (e.g., flash memory, magnetic RAM, etc.), or any other suitable storage media. Such computer-readable media may be implemented in any preferred form, including as computer-readable storage media 806 (i.e., as part of computing device 800) as described below in Figure 6, or as a separate, standalone storage medium. As used herein, “computer-readable media” (also referred to as “computer-readable storage media”) means tangible storage media. Tangible storage media are non-transient and have at least one physical structural component. In a “computer-readable medium” as used herein, at least one physical structural component has at least one physical property that can be modified in some way during the process of generating the medium with embedded information, the process of recording information thereon, or any other process of encoding the medium with information. For example, the magnetization state of a part of the physical structure of a computer-readable medium may be modified during the recording process.

[0076] In some, though not all, implementations (in which the technique may be embodied as computer-executable instructions), these instructions may be executed on one or more suitable computing devices operating within any suitable computer system, or one or more computing devices (or one or more processors of one or more computing devices) may be programmed to execute computer-executable instructions. A computing device or processor may be programmed to execute instructions when they are stored in a manner accessible to the computing device / processor, such as in local memory (e.g., on-chip cache or instruction registers, computer-readable storage media accessible via a bus, computer-readable storage media accessible via one or more networks and accessible by the device / processor, etc.). Functional facilities having these computer-executable instructions may be integrated with and direct the operation of a single multipurpose programmable digital computer device, a coordinated system of two or more multipurpose computer devices sharing processing power and jointly performing the techniques described herein, a single computer device or a coordinated system of computer devices (located in the same location or geographically distributed) dedicated to performing the techniques described herein, one or more field-programmable gate arrays (FPGAs) for performing the techniques described herein, or any other suitable system.

[0077] Figure 6 illustrates one exemplary implementation of a computing device in the form of computing device 800 that may be used in a system implementing the techniques described herein, although other implementations are also possible. It should be understood that Figure 6 is not intended to be a depiction of, or an exhaustive depiction of, the components necessary for the computing device to operate according to the principles described herein.

[0078] The computing device 800 may comprise at least one processor 802 (e.g., processor 702 as discussed in relation to Figure 2), a network adapter 804, and a computer-readable storage medium 806 capable of storing both procedure-specific codes and general-purpose codes (e.g., codes not specific to performing a particular procedure). The computing device 800 may be, for example, a desktop or laptop personal computer, a personal digital assistant (PDA), a smart mobile phone, a server, a wireless access point or other networking element, an onboard component of a general-purpose surgical robot platform 100, or any other suitable computing device. The network adapter 804 may be any suitable hardware and / or software that enables the computing device 800 to communicate with any other suitable computing device via any suitable computing network, wired and / or wirelessly. The computing network may include the Internet, wireless access points, switches, routers, AND gateways, and / or other networking equipment for exchanging data between two or more computers, as well as any suitable wired and / or wireless communication medium or multiple mediums. The computer-readable medium 806 may be adapted to store data and / or instructions to be processed by one or more processors 802. The processors 802 enable the processing of data and the execution of instructions. The data and instructions may be stored on the computer-readable storage medium 806.

[0079] The data and instructions stored on the computer-readable storage medium 806 may include computer-executable instructions that implement techniques operating in accordance with the principles described herein. In the embodiment of Figure 6, the computer-readable storage medium 806 stores computer-executable instructions that implement various facilities and stores various information as described above. The computer-readable storage medium 806 may also store an end-effector movement facility 808, which, when executed by the processor 802, enables the processor 802 to move the end-effector 300 (for example, based on feedback data and / or user instructions). The computer-readable storage medium 806 may also store an end-effector activation facility 810, which, when executed by the processor 802, enables the processor 802 to activate the effector 300 (for example, based on feedback data and / or user instructions). The computer-readable storage medium 806 may store an end-effector position facility 812, which, when executed by the processor 802, enables the processor 802 to determine the position of the effector 300 (based on feedback data such as imaging or motion control data). The computer-readable storage medium 806 may store a procedure progress module 814, which, when executed by the processor 802, enables the processor 802 to determine the progress of the first procedure (for example, based on the position and operation of the end-effector 300). The computer-readable storage medium 806 may store a landmark identification facility 816, which, when executed by the processor 802, enables the processor 802 to identify relevant anatomical landmarks in the received imaging data. The computer-readable storage medium 806 may store a user interface facility 818, which, when executed by the processor 802, enables the processor 802 to generate a graphical user interface 600 for the user.

[0080] Although not shown in Figure 6, the computing device may also have one or more components and peripherals, including input and output devices. These devices can, among other things, be used to present a user interface. Embodiments of output devices that may be used to provide a user interface include a printer or display screen for visual presentation of output and a speaker or other sound-generating device for audible presentation of output. Embodiments of input devices that may be used for a user interface include a keyboard and a pointing device such as a mouse, touchpad, and digitized tablet. In another embodiment, the computing device may receive input information through speech recognition or in other audible formats.

[0081] Based on the foregoing, it should be understood here that the embodiments illustrated and described herein relate to a general-purpose surgical robot platform.

[0082] Non-limiting embodiments of this disclosure are described in the following addendum.

[0083] Note 1. A robot system comprising a processor and a robot platform communicating with the processor, wherein the robot platform is configured to be coupled to a first procedure-specific end effector, the first procedure-specific end effector is controllable by the robot platform and selected to perform a first type of procedure, and the processor is configured to receive a first procedure-specific code, execute the first procedure-specific code, and cause the robot platform to operate the first procedure-specific end effector to perform a first type of procedure.

[0084] Note 2. The robotic system as described in Note 1, wherein the robotic platform comprises one or more robotic arms, and the one or more robotic arms are configured to be coupled to a first procedure-specific end effector.

[0085] Note 3. The robotic system according to Note 1 or Note 2, wherein the processor is configured to receive imaging data from one or more imaging devices, analyze the imaging data, and present a graphical user interface for surgical sites based on the imaging data.

[0086] Appendix 4. The robotic system described in any one of Appendix 1-3, wherein the processor is configured to inform the user of the real-time position of a first procedure-specific end effector within the surgical site via a graphical user interface.

[0087] Appendix 5. The robotic system according to any one of Appendix 1-4, wherein the processor is configured to identify one or more anatomical landmarks in the imaging data and to label one or more anatomical landmarks in the imaging data on a graphical user interface.

[0088] Appendix 6. A robotic system as described in any one of Appendix 1-5, wherein the processor is configured to receive imaging data from one or more imaging devices, analyze the imaging data, and control a first procedure-specific end effector based on the imaging data.

[0089] Note 7. The robotic system as described in any one of the notes 1-6, wherein the robotic platform is configured to be coupled to a second procedure-specific end effector, the second procedure-specific end effector being controllable by the robotic platform and selected to perform a second type of procedure, and the processor is configured to cause the robotic platform to receive a second procedure-specific code, execute the second procedure-specific code, and operate the second procedure-specific end effector to perform the second type of procedure.

[0090] Appendix 8. The robotic system according to any one of Appendix 1-7, wherein the robotic platform comprises adapters positioned at the distal ends of one or more robotic arms of the robotic platform, and the robotic platform is configured to be coupled via the adapters to a first procedure-specific end effector.

[0091] Note 9. The robotic system described in any one of the notes 1-8, wherein the adapter is configured to be coupled to a customized holder which is configured to hold a first procedure-specific end effector.

[0092] Note 10. A customized holder is molded and sized based on the first technique-specific end effector in the robotic system described in any one of the notes 1-9.

[0093] Appendix 11. A method comprising uploading a first procedure-specific code to a robot platform, wherein the first procedure-specific code, when executed by the processor of the robot platform, causes the robot platform to operate a first procedure-specific end effector to perform a first type of procedure; attaching the first procedure-specific end effector to the robot platform; and causing the robot platform to perform a first type of procedure.

[0094] Appendix 12. The method according to Appendix 11, further comprising uploading a second procedure-specific code to a robot platform, the second procedure-specific code, when executed by the processor of the robot platform, causing the robot platform to operate a first procedure-specific end effector to perform a second type of procedure, and causing the robot platform to perform a second type of procedure.

[0095] Appendix 13. Mounting the first procedure-specific end effector to a robot platform includes mounting the first procedure-specific end effector to a robot platform via a first customized holder, the first customized holder being molded and sized based on the first procedure-specific end effector, as described in Appendix 11 or 12.

[0096] Appendix 14. The method according to any one of the items in Appendix 11-13, further comprising: removing a first procedure-specific end effector from the robot platform; uploading a second procedure-specific code to the robot platform, the second procedure-specific code, when executed by the processor of the robot platform, causing the robot platform to operate the second procedure-specific end effector and perform a second type of procedure; attaching the second procedure-specific end effector to the robot platform; and causing the robot platform to perform a second type of procedure.

[0097] Appendix 15. The method according to any one of the items in Appendix 11-14, wherein mounting the first procedure-specific end effector to the robot platform includes mounting the first procedure-specific end effector to the robot platform via a first customized holder, the first customized holder being molded and sized based on the first procedure-specific end effector, and mounting the second procedure-specific end effector to the robot platform includes mounting the second procedure-specific end effector to the robot platform via a second customized holder, the second customized holder being molded and sized based on the second procedure-specific end effector.

[0098] Appendix 16. The method of any one of the appendices 11-15, further comprising removing the first procedure-specific end effector and the first customized holder from the robot platform prior to attaching the second procedure-specific end effector and the second customized holder to the robot platform.

[0099] Note 17. A system for coupling an end effector to a robot platform, comprising: an adapter configured to be coupled to a robot arm of the robot platform; and a customized holder that can be coupled to the adapter, the customized holder configured to hold the end effector.

[0100] Note 18. The adapter and customized holder are magnetically coupled to the system described in Note 17.

[0101] Note 19. The system according to Note 17 or Note 18, wherein the adapter comprises an electromagnet, the customized holder comprises a magnetic material, and the adapter and the customized holder are configured to be magnetically coupled via the electromagnet of the adapter and the magnetic material of the customized holder.

[0102] Note 20. The system according to any one of the notes 17-19, wherein the adapter comprises a body configured to be coupled to a robot arm, and a cantilever extending distally from the body, the cantilever having sides defining the meshing surface of the adapter, and the adapter is configured to be coupled to a customized holder at the meshing surface of the adapter.

[0103] Note 21. The system described in any one of the notes 17-20, wherein the mating surface of the adapter is equipped with an electromagnet.

[0104] Note 22. The system according to any one of the notes 17-21, wherein the mating surface of the adapter comprises a plurality of protrusions, the plurality of protrusions defining one or more recesses between them.

[0105] Note 23. The system described in any one of the items in Note 17-22, wherein the mating surface of the adapter is equipped with an electromagnet, and a plurality of protrusions surround the electromagnet.

[0106] Appendix 24. The system according to any one of the appendices 17-23, wherein the customized holder comprises a meshing surface of the customized holder, and the customized holder is configured to bond to the meshing surface of the adapter at the meshing surface of the customized holder.

[0107] Note 25. The system according to any one of the notes 17-24, wherein the meshing surface of the customized holder comprises a plurality of keys configured to be received in one or more recesses.

[0108] Note 26. The system according to any one of the notes 17-25, wherein the customized holder comprises a base defining the meshing surface of the customized holder, the customized holder being connectable to an adapter at the meshing surface of the customized holder; a plurality of cantilevers extending from the base; a locking member rotatably connected to the plurality of cantilevers at a first end of the locking member; and a retainer configured to receive a second end of the locking member.

[0109] Note 27. The customized holder is configured to hold the end effector in a space defined between a plurality of cantilevers and a locking member, at least partially, when the second end of the locking member is received by the retainer, according to any one of the systems in any of the notes 17-26.

[0110] Note 28. The system according to any one of the notes 17-27, wherein the multiple cantilevers are molded and sized based on end effectors such that when the second end of the locking member is received by a retainer, the cantilevers are at least partially held within a defined space between the multiple cantilevers and the locking member, and the locking member is molded and sized based on end effectors such that when the second end of the locking member is received by a retainer, the cantilevers are at least partially held within a defined space between the multiple cantilevers and the locking member.

[0111] Note 29. An adapter comprising a body, the body having a first end and a second end that can be coupled to a robot arm; and a cantilever extending distally from the second end of the body, the cantilever having sides that define a meshing surface of the adapter, the adapter being configured to be coupled to a customized holder at the meshing surface of the adapter, the meshing surface comprising an electromagnet and a plurality of protrusions, the plurality of protrusions surrounding the electromagnet and defining one or more recesses between the plurality of protrusions; and a cantilever.

[0112] Note 30. A customized holder comprising a base defining a meshing surface, the customized holder configured to mesh with the meshing surface of an adapter, the meshing surface comprising a base comprising a magnetic metal and a plurality of keys surrounding the magnetic metal, a plurality of cantilevers extending from the base, a locking member rotatably coupled to the plurality of cantilevers at a first end of the locking member, and a retainer configured to receive a second end of the locking member, the customized holder having at least a plurality of end effectors when the second end of the locking member is received by the retainer. A customized holder configured to hold a cantilever within a defined space between the cantilever and the locking member, wherein the cantilever is molded and sized based on an end effector such that, when the second end of the locking member is received by the retainer, it will be held at least partially within the defined space between the cantilever and the locking member, and the locking member is molded and sized based on an end effector such that, when the second end of the locking member is received by the retainer, it will be held at least partially within the defined space between the cantilever and the locking member.

[0113] All patents and publications described herein are incorporated herein by reference to the same extent as each individual patent and publication is specifically and individually indicated to be incorporated by reference.

[0114] Numerous modifications and alternative embodiments of this disclosure will be obvious to those skilled in the art in light of the foregoing description. Therefore, this description should be construed as merely illustrative and is intended to teach those skilled in the art the best modes for carrying out this disclosure. Structural details may vary substantially without departing from the spirit of this disclosure, and the exclusive use of all modifications falling within the scope of any appended claims is reserved. While embodiments in this specification are described in a manner that enables a clear and concise description, embodiments are intended and should be understood to be combined and separated in various ways within and without departing from the scope of this disclosure. This disclosure is intended to be limited only to the extent required by any appended claims and applicable law.

[0115] As used herein, the terms “comprise” and “comprising” are intended to be interpreted as inclusive, not exclusive. As used herein, the terms “exemplary,” “example,” and “exemplifying” are intended to mean “serving as an example, case, or illustration,” and should not be interpreted as indicating or not indicating a configuration that is preferable or advantageous to other configurations. As used herein, the terms “about,” “generally,” and “approximately” are intended to cover variations that may exist at the upper and lower limits of subjective or objective ranges, such as variations in properties, parameters, size, and dimensions. In one non-limiting embodiment, the terms “about,” “generally,” and “approximately” mean 10 percent, or +10 percent or less than +10 percent, or -10 percent or less than -10 percent. In one non-limiting embodiment, the terms “about,” “generally,” and “approximately” mean that it is considered to be a good approximation to a person skilled in the art in which it will be included. As used herein, the term “substantially” refers to the complete or near-complete range or degree of an action, characteristic, nature, state, structure, item, or result, as would be understood by those skilled in the art. For example, an object that is “substantially” circular would mean that the object is either perfectly circular to the mathematically determinable limit, or nearly circular as would be recognized or understood by those skilled in the art. The degree of strictly acceptable deviation from absolute perfection may, in some cases, depend on the specific context. However, generally, near-perfect would mean having the same overall result as if absolute and overall perfection were achieved or obtained. The use of “substantially” is equally applicable when used in a negative sense to refer to the complete or near-complete absence of an action, characteristic, nature, state, structure, item, or result, as would be understood by those skilled in the art. The use of the technical terms X “or” Y herein should be interpreted as meaning either “X” or “Y” individually, or both “X and Y.”

Claims

1. It is a robotic system, Processor and A robot platform that communicates with the aforementioned processor Equipped with, The robot platform is configured to be coupled to a first procedure-specific end effector, the first procedure-specific end effector being controllable by the robot platform and selected to perform a first type of procedure. The processor is configured to receive a first procedure-specific code and to execute the first procedure-specific code, causing the robot platform to operate the first procedure-specific end effector and perform the first type of procedure. Robot system.

2. The robot platform comprises one or more robot arms, The one or more robot arms are configured to be coupled to the first procedure-specific end effector. The robot system according to claim 1.

3. The aforementioned processor, Receiving imaging data from one or more imaging devices, Analyzing the aforementioned imaging data, Based on the aforementioned imaging data, a graphical user interface for the surgical site is presented. The robot system according to claim 1, configured to perform the following:

4. The robotic system according to claim 3, wherein the processor is configured to inform the user of the real-time position of the first procedure-specific end effector within the surgical site via the graphical user interface.

5. The aforementioned processor, Identifying one or more anatomical landmarks in the aforementioned imaging data, To label one or more anatomical landmarks in the imaging data on the graphical user interface. The robot system according to claim 3, configured to perform the following:

6. The aforementioned processor, Receiving imaging data from one or more imaging devices, Analyzing the aforementioned imaging data, Controlling the first procedure-specific end effector based on the aforementioned imaging data. The robot system according to claim 1, configured to perform the following:

7. The robot platform is configured to be coupled to a second procedure-specific end effector, the second procedure-specific end effector being controllable by the robot platform and selected to perform a second type of procedure. The processor is configured to receive a second procedure-specific code and to execute the second procedure-specific code, causing the robot platform to operate the second procedure-specific end effector and perform the second type of procedure. The robot system according to claim 1.

8. The robot platform includes an adapter positioned at the distal end of one or more robot arms of the robot platform. The robot platform is configured to be coupled to the first procedure-specific end effector via the adapter. The robot system according to claim 1.

9. The robotic system according to claim 8, wherein the adapter is configured to be coupled to a customized holder configured to hold the first procedure-specific end effector.

10. The robotic system according to claim 9, wherein the customized holder is molded and sized based on the first technique-specific end effector.

11. It is a method, Uploading a first procedure-specific code to a robot platform, wherein the first procedure-specific code, when executed by the processor of the robot platform, causes the robot platform to operate a first procedure-specific end effector to perform a first type of procedure. Attaching the first procedure-specific end effector to the robot platform, The robot platform is to perform the first type of procedure. Methods that include...

12. Uploading a second procedure-specific code to the robot platform, wherein the second procedure-specific code, when executed by the processor of the robot platform, causes the robot platform to operate the first procedure-specific end effector to perform a second type of procedure. The robot platform is to perform the second type of procedure. The method according to claim 11, further comprising:

13. The method according to claim 11, wherein mounting the first technique-specific end effector to the robot platform comprises mounting the first technique-specific end effector to the robot platform via a first customized holder, the first customized holder being molded and sized based on the first technique-specific end effector.

14. Removing the first procedure-specific end effector from the robot platform, Uploading a second procedure-specific code to the robot platform, wherein the second procedure-specific code, when executed by the processor of the robot platform, causes the robot platform to operate a second procedure-specific end effector to perform a second type of procedure. The second procedure-specific end effector is attached to the robot platform, The robot platform is to perform the second type of procedure. The method according to claim 11, further comprising:

15. Attaching the first procedure-specific end effector to the robot platform includes attaching the first procedure-specific end effector to the robot platform via a first customized holder, the first customized holder being molded and sized based on the first procedure-specific end effector. Attaching the second technique-specific end effector to the robot platform includes attaching the second technique-specific end effector to the robot platform via a second customized holder, the second customized holder being molded and sized based on the second technique-specific end effector. The method according to claim 14.

16. The method according to claim 15, further comprising removing the first procedure-specific end effector and the first customized holder from the robot platform prior to attaching the second procedure-specific end effector and the second customized holder to the robot platform.

17. A system for connecting an end effector to a robot platform, An adapter configured to be coupled to the robot arm of the robot platform, A customized holder that can be coupled to the adapter, wherein the customized holder is configured to hold the end effector. A system that includes these features.

18. The system according to claim 17, wherein the adapter and the customized holder are magnetically connectable.

19. The adapter is equipped with an electromagnet, The customized holder comprises a magnetic material, The adapter and the customized holder are configured to be magnetically coupled via the electromagnet of the adapter and the magnetic material of the customized holder. The system according to claim 17.

20. The aforementioned adapter is A main body configured to be attached to the robot arm, A cantilever extending distally from the main body, the cantilever having a side surface defining the meshing surface of the adapter, and the adapter being configured to bond to the customized holder at the meshing surface of the adapter, and The system according to claim 17, comprising:

21. The system according to claim 20, wherein the meshing surface of the adapter is equipped with an electromagnet.

22. The system according to claim 20, wherein the meshing surface of the adapter is provided with a plurality of protrusions, and the plurality of protrusions define one or more recesses between them.

23. The meshing surface of the adapter is equipped with an electromagnet. The aforementioned plurality of protrusions surround the electromagnet. The system according to claim 22.

24. The system according to claim 22, wherein the customized holder comprises an engagement surface of the customized holder, and the customized holder is configured to bond to the engagement surface of the adapter at the engagement surface of the customized holder.

25. The system according to claim 24, wherein the meshing surface of the customized holder comprises a plurality of keys configured to be received in one or more recesses.

26. The customized holder is A base defining the meshing surface of the customized holder, wherein the customized holder is coupled to the adapter at the meshing surface of the customized holder, Multiple cantilevers extending from the base, A locking member, wherein the locking member is rotatably coupled to the plurality of cantilevers at a first end of the locking member, A retainer configured to receive the second end of the locking member and The system according to claim 17, comprising:

27. The system according to claim 26, wherein the customized holder is configured to hold the end effector at least partially within a space defined between the plurality of cantilevers and the locking member when the second end of the locking member is received by the retainer.

28. The plurality of cantilevers are molded and sized based on the end effector, which, when the second end of the locking member is received by the retainer, will be held at least partially within the space defined between the plurality of cantilevers and the locking member. The locking member is molded and sized based on the end effector, such that when the second end of the locking member is received by the retainer, it is at least partially held within the space defined between the plurality of cantilevers and the locking member. The system according to claim 27.

29. It is an adapter, The main body, and the main body is A first end that can be attached to a robot arm, The second end and The main unit is equipped with, A cantilever extending distally from the second end of the main body, the cantilever having a side surface defining the meshing surface of the adapter, the adapter being configured to be coupled to a customized holder at the meshing surface of the adapter, the meshing surface being, Electromagnets and, A plurality of protrusions, wherein the plurality of protrusions surround the electromagnet and define one or more recesses between the plurality of protrusions. Equipped with a cantilever and An adapter equipped with [the following features].

30. A customized holder, A base defining the meshing surface, wherein the customized holder is configured to bond to the meshing surface of the adapter on the meshing surface, and the meshing surface is Magnetic metals and, Multiple keys surrounding the aforementioned magnetic metal and A base comprising, Multiple cantilevers extending from the base, A locking member, wherein the locking member is rotatably coupled to the plurality of cantilevers at a first end of the locking member, A retainer configured to receive the second end of the locking member and Equipped with, The customized holder is configured such that, when the second end of the locking member is received by the retainer, it holds the end effector at least partially within the space defined between the plurality of cantilevers and the locking member. The plurality of cantilevers are molded and sized based on the end effector, which, when the second end of the locking member is received by the retainer, will be held at least partially within the space defined between the plurality of cantilevers and the locking member. The locking member is molded and sized based on the end effector, such that when the second end of the locking member is received by the retainer, it is at least partially held within the space defined between the plurality of cantilevers and the locking member. Customized holder.

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