Brake release for surgical robots

Abstract

A medical robot system may include a secondary brake release to allow the user to more easily move the robot system's arm when the system is powered off or in a malfunction state. The robot system may include joints and a braking mechanism that can restrict the movement of the joints. The braking mechanism may include a braking material, a first electromagnetic assembly, and a user command release mechanism. The first electromagnetic assembly can disengage the braking material from an engaged configuration to a disengaged configuration. Furthermore, the user command release device can disengage the braking material from an engaged configuration to a disengaged configuration independently of the first electromagnetic assembly.

Description

Technical Field

[0001] (Priority) This application claims the benefit of U.S. Patent Application No. 18 / 326,629, filed May 31, 2023, entitled "Brake Release for Surgical Robot", the disclosure of which is incorporated herein by reference.

[0002] (Field of the Invention) The systems and methods disclosed herein relate to robotic systems, and more particularly, to brake release for robotic systems.

Background Art

[0003] Minimally invasive procedures enable access to target sites within a patient with minimal trauma to the patient. A medical robotic system can provide a mechanism for performing surgery using one or more robotic arms. For example, laparoscopic surgery can enable surgical access to a patient's cavity through a small incision in the patient's abdomen.

[0004] The robotic arms of a robotic system can be coupled to one or more tools such as cannulas or other devices used to perform surgery on a patient. Each arm can include one or more joints for positioning the arm in space. The joints can then be driven by motors and / or transmissions that facilitate movement of the arm and any tools carried thereby through space relative to the patient.

[0005] When a robotic system arm is powered off or malfunctions, it is typically held in place via a braking mechanism (e.g., a "power-off brake"). Braking mechanisms can be provided to the arm's joints and links to restrict arm movement and prevent access to a patient. The power-off brake may be automatically activated by the robotic system's controller or control system upon triggering a malfunction (e.g., sensor failure) or loss of power to the system. [Overview of the project] [Means for solving the problem]

[0006] In some predicate systems, these power-off brakes may be sufficient to maintain the arm in a given position while allowing the arm to be "back-driveable" by the user. When back-driven by the user, the user applies a force greater than the force of the power-off brake used to maintain the joint or link in a given position. As a result, the user can articulate the arm to a given desired position, even when the power-off brake in the arm is engaged. In addition, such robotic systems may include a primary brake release, which may be initiated by the user and implemented by a controller or control system.

[0007] According to some embodiments disclosed herein, it is recognized that as the robotic systems developed by the applicant continue to evolve and provide previously unavailable functionality and durability, significant and unexpected changes to the structure and architecture of the robotic systems have been discovered, which have been found to provide remarkably important and advantageous results in facilitating the effective and simple operation of the robotic systems. Furthermore, according to some embodiments disclosed herein, it is recognized that the controller or control system of the robotic system may be rendered inoperable or otherwise unavailable in order to initiate primary brake release. Accordingly, this disclosure addresses these and other issues.

[0008] For example, the unique architecture of the embodiment of the robotic system developed by the applicant allows the system's components to include joints and brakes that are far more robust than their counterparts. These joints and brakes can be designed to support very heavy weights and cannot be easily overcome by forces applied by a manual user. In general, many of these joints cannot be reversed because they support heavy loads.

[0009] Therefore, in addition to the primary brake release that may be available to release the power-off brake system as discussed above, some embodiments disclosed herein provide robotic systems that incorporate a secondary brake release which allows a user to release the power-off brake, for example, to allow a user to more easily manipulate the position of the robotic arm while the system is powered off or in a faulty state.

[0010] Advantageously, some embodiments of secondary brake release can allow a user to perform one of a variety of actions or procedures, including accessing a patient on the system's bed, without affecting the connection between the power-off brake and the motor driver. Furthermore, it can more safely protect and maintain the integrity and functionality of the system while providing the user with flexibility when operating the system. Such secondary brake release mechanisms can provide solutions to the above-mentioned problems, and such systems are not disclosed or implemented in the Predicate System, given that the applicant did not implement or otherwise consider any unique improvements to the new technology until the discovery and development of embodiments of secondary brake release devices.

[0011] According to some embodiments, the secondary brake release device may be implemented as an electric brake release device. In some embodiments, the electric brake release device can release a brake mechanism associated with and / or coupled to a main joint, enabling the translation of an adjustable bar relative to a table of the system. In addition, or alternatively, some embodiments of the electric brake release device can be used to release a brake mechanism associated with and / or coupled to one or more joints beyond the main joint. In some embodiments, one or more brake release devices can release one or more joints. Furthermore, the electric brake release mechanism can be incorporated into a single robotic arm, a pair of robotic arms working in conjunction, and / or a combination thereof.

[0012] In some embodiments, the release device can provide an electrical interface with a power source and can be configured to provide an electrical connection between the power source and the electromagnetic brake. The electromagnetic brake may be selectively energized by a power source independent of the control system of the medical robot system in order to disengage the electromagnetic brake and enable joint movement of the robot joint. In addition, or alternatively, the electrical interface may include an induction loop.

[0013] In some embodiments, the power supply may include any other suitable power source, including a battery, a capacitor, and / or grid power. Optionally, the release device may include a switch for controlling the electrical connection between the power supply and the electromagnetic brake. Furthermore, in some embodiments, the release device may include a charging circuit.

[0014] In some embodiments, the release device may include a thermal protection circuit and / or a timing circuit configured to reduce the power output of the release device in response to the device temperature exceeding a temperature threshold and / or to reduce the power output of the release device in response to the device operating period exceeding an operating period threshold. The thermal protection circuit may include a thermistor, a thermocouple, and / or a thermal fuse.

[0015] In some embodiments, the release device is configured to communicate with the control system of the medical robot system.

[0016] Advantageously, these systems can provide an additional level of safety to robots interacting with humans by allowing the joints to be fully unlocked and repositioned even in the event of a complete electrical or software failure of the robot. [Brief explanation of the drawing]

[0017] The disclosed embodiments will be described below in conjunction with the attached drawings, and the disclosed embodiments will be illustrated as examples, but will not be limited, and the same reference numerals will indicate the same elements. [Figure 1] An embodiment of a cart-based robotic system deployed for diagnostic and / or therapeutic bronchoscopy procedures is illustrated. [Figure 2] Further aspects of the robot system shown in Figure 1 are illustrated. [Figure 3] An example of the robotic system shown in Figure 1, which is positioned for ureteroscopy, will be illustrated. [Figure 4] An example of the robotic system shown in Figure 1, configured for vascular procedures, is illustrated. [Figure 5] An embodiment of a table-based robotic system positioned for bronchoscopy procedures is illustrated. [Figure 6] An alternative diagram of the robot system shown in Figure 5 is provided. [Figure 7] An example of a system configured to house a robotic arm is illustrated. [Figure 8] Illustrate an embodiment of a table-based robotic system configured for ureteroscopy procedures. [Figure 9] Illustrate an embodiment of a table-based robotic system configured for laparoscopic procedures. [Figure 10] Illustrate an embodiment of the table-based robotic system of FIGS. 5-9 having pitch or tilt adjustment. [Figure 11] Provide a detailed illustrative view of the interface between the table and column of the table-based robotic system of FIGS. 5-10. [Figure 12] Illustrate an alternative embodiment of a table-based robotic system. [Figure 13] Illustrate an end view of the table-based robotic system of FIG. 12. [Figure 14] Illustrate an end view of the table-based robotic system with a robotic arm attached. [Figure 15] Illustrate an exemplary instrument driver. [Figure 16] Illustrate an exemplary medical instrument having a pair of instrument drivers. [Figure 17] Illustrate an alternative design of an instrument driver and instrument where the axis of the drive unit is parallel to the axis of the elongated shaft of the instrument. [Figure 18] Illustrate an instrument having an instrument base insertion architecture. [Figure 19] Illustrate an exemplary controller. [Figure 20] Draw a block diagram illustrating a location identification system for estimating the location of one or more elements of the robotic system of FIGS. 1-10, such as the location of the instrument of FIGS. 16-18, according to an exemplary embodiment. [Figure 21A] Illustrate a medical robotic system that can utilize one or more brake release mechanisms according to some embodiments. [Figure 21B] Illustrate the arm of the system of FIG. 21A according to some embodiments. [Figure 22] A schematic electrical diagram of a brake release device according to several embodiments is shown. [Figure 23] A schematic electrical diagram of a brake release device according to several embodiments is shown. [Figure 24] A schematic electrical diagram of a brake release device according to several embodiments is shown. [Figure 25] A schematic electrical diagram of a brake release device according to several embodiments is shown. [Figure 26] Perspective views of joints having a brake release device according to several embodiments are illustrated below. [Figure 27] Figure 26 is a front view of the brake release device. [Figure 28] Figure 26 is a side cross-sectional view of the brake release device. [Figure 29] Let's illustrate this with an example using the perspective view of the joint in Figure 26. [Figure 30] Perspective views of mounting plates according to several embodiments are illustrated below. [Figure 31A] Cross-sectional views of the brake release device and mounting plate shown in Figure 30, according to several embodiments, are illustrated below. [Figure 31B] Cross-sectional views of the brake release device and mounting plate shown in Figure 30, according to several embodiments, are illustrated below. [Figure 32] Cross-sectional views of brake release devices and mounting plates according to several embodiments are illustrated below. [Figure 33] Cross-sectional views of brake release devices and mounting plates according to several embodiments are illustrated below. [Figure 34] Several embodiments of a brake release device switch are illustrated below. [Figure 35] Several embodiments of the switch cover of the brake release device shown in Figure 34 are illustrated below. [Figure 36] Several embodiments of a brake release device switch are illustrated below. [Figure 37]Perspective views of an arm having multiple brake release devices according to several embodiments are illustrated below. [Figure 38] Perspective views of a brake release device mounted on an arm, according to several embodiments, are illustrated below. [Figure 39] Let's illustrate with an example using the inverse perspective view of the brake release device shown in Figure 38. [Figure 40] Figure 38 is a perspective view of the brake release device. [Figure 41] Figure 38 is an inverted perspective view of the brake release device. [Figure 42] Figure 38 is a perspective view of the arm mounting plate according to several embodiments. [Figure 43] Figure 38 is a perspective view of the arm mounting plate according to several embodiments. [Modes for carrying out the invention]

[0018] 1. Overview Aspects of this disclosure may be integrated into a robot-enabled medical system capable of performing a variety of medical procedures, including both minimally invasive procedures such as laparoscopy and non-invasive procedures such as endoscopy. This system may be capable of performing endoscopic procedures such as bronchoscopy, ureteroscopy, and gastroscopy.

[0019] In addition to performing a wide range of procedures, the system can offer additional benefits such as enhanced imaging and guidance to assist physicians. Furthermore, the system can provide physicians with the ability to perform procedures from an ergonomic position without the need for cumbersome arm movements and positioning. Moreover, the system can provide physicians with improved ease of use, allowing one or more of the system's instruments to be controlled by a single user.

[0020] Various embodiments are described below, accompanied by drawings, for illustrative purposes. While many other implementations of the concepts of this disclosure are possible, it should be understood that various advantages may be achieved by the implementations of this disclosure. This specification includes headings for reference and to help locate the various sections. These headings are not intended to limit the scope of the concepts described therein. Such concepts may be applicable throughout this specification.

[0021] A. Robot System - Cart Robot-enabled medical systems can be configured in various ways depending on the specific procedure. Figure 1 illustrates one embodiment of a cart-based robot-enabled system 10 positioned for a diagnostic and / or therapeutic bronchoscopy procedure. During bronchoscopy, the system 10 may include a cart 11 having one or more robotic arms 12 for delivering medical instruments, such as a maneuverable endoscope 13 which may be a procedure-specific bronchoscope for bronchoscopy, to a natural opening access point (i.e., the patient's mouth positioned on a table in this example) for delivering diagnostic and / or therapeutic tools. As shown, the cart 11 may be positioned close to the patient's upper torso to provide access to the access point. Similarly, the robotic arms 12 may be actuated to position the bronchoscope relative to the access point. The configuration of Figure 1 can also be used when performing gastrointestinal (GI) procedures using a gastroscope, which is an endoscope specifically designed for GI procedures. Figure 2 illustrates an exemplary embodiment of the cart in more detail.

[0022] Continuing to refer to Figure 1, once the cart 11 is properly positioned, the robotic arm 12 can insert the maneuverable endoscope 13 into the patient robotically, manually, or a combination thereof. As shown, the maneuverable endoscope 13 may include at least two nesting parts, such as an inner leader portion and an outer sheath portion, each portion coupled to a separate instrument driver from a set of instrument drivers 28, each instrument driver coupled to the distal end of an individual robotic arm. This linear arrangement of the instrument drivers 28, which facilitates the coaxial alignment of the leader portion with the sheath portion, creates a “virtual rail” 29 that can be repositioned in space by manipulating one or more robotic arms 12 at different angles and / or positions. The virtual rail described herein is depicted in the figure using dashed lines, and therefore the dashed lines do not depict any physical structure of the system. Translation of the instrument drivers 28 along the virtual rail 29 causes the inner leader portion to nest with the outer sheath portion, or moves the endoscope 13 forward or backward from the patient. The angle of the virtual rail 29 can be adjusted, translated, or pivoted based on clinical use or physician preference. For example, in bronchoscopy, the angle and position of the illustrated virtual rail 29 represent a compromise between providing physician access to the endoscope 13 and minimizing friction resulting from bending the endoscope 13 into the patient's mouth.

[0023] The endoscope 13 can be directed downstream of the patient's trachea and lungs after insertion using precise commands from the robotic system until it reaches the target destination or surgical site. To enhance navigation through the patient's lung network and / or reach the desired target, the endoscope 13 can be operated so that the inner leader portion is extended in a nested manner from the outer sheath portion to obtain enhanced articulation and a larger bending radius. The use of a separate instrument driver 28 also makes it possible for the leader portion and the sheath portion to be driven independently of each other.

[0024] For example, the endoscope 13 may be directed to deliver a biopsy needle to a target such as a lesion or nodule in the patient's lung. The needle may be deployed downstream of a working channel extending the length of the endoscope to obtain a tissue sample to be analyzed by a pathologist. Depending on the pathological results, additional tools may be deployed downstream of the working channel of the endoscope for additional biopsies. After identifying the nodule as malignant, the endoscope 13 may deliver tools endoscopically to excise the potentially cancerous tissue. In some cases, diagnostic and therapeutic procedures may be delivered in separate procedures. In these situations, the endoscope 13 may also be used to deliver a reference to "mark" the location of the target nodule. In other cases, diagnostic and therapeutic procedures may be delivered during the same procedure.

[0025] System 10 may also include a movable tower 30 connected to the cart 11 via support cables, which can provide support for control, electronics, fluid mechanics, optics, sensors, and / or power to the cart 11. Placing such functions in the tower 30 allows for a smaller form factor cart 11 that can be more easily adjusted and / or repositioned by the surgeon and their staff. In addition, the functional separation between the cart / table and the support tower 30 reduces clutter in the operating room and facilitates improvements in clinical workflow. The cart 11 can be positioned close to the patient, while the tower 30 can be housed in a more distant location so as not to interfere during procedures.

[0026] To support the robotic system described above, the tower 30 may include components of a computer-based control system that store computer program instructions in a non-temporary computer-readable storage medium, such as a persistent magnetic memory drive or a solid-state drive. The execution of these instructions can control the entire system or its subsystems, whether the execution takes place within the tower 30 or within the cart 11. For example, when executed by the processor of the computer system, the instructions may cause components of the robotic system to actuate associated carriages and arm mounts, actuate a robotic arm, and control medical devices. For example, in response to receiving a control signal, a motor in the joint of the robotic arm may position the arm in a particular posture.

[0027] The tower 30 may also include a pump, flow meter, valve control, and / or fluid access to provide controlled irrigation and suction functions to a system that can be deployed through the endoscope 13. These components may also be controlled using the computer system of the tower 30. In some embodiments, the irrigation and suction capabilities may be delivered directly to the endoscope 13 via separate cables.

[0028] The tower 30 may include voltage and surge protectors designed to provide filtered and protected power to the cart 11, thereby avoiding the need to place power transformers and other auxiliary power components within the cart 11, making the cart 11 smaller and more portable.

[0029] Tower 30 may also include support equipment for sensors deployed throughout the robotic system 10. For example, Tower 30 may include optoelectronic equipment for detecting, receiving, and processing data received from optical sensors or cameras throughout the robotic system 10. In combination with a control system, such optoelectronic equipment can be used to generate real-time images for display on any number of consoles deployed throughout the system, including within Tower 30. Similarly, Tower 30 may also include electronic subsystems for receiving and processing signals from deployed electromagnetic (EM) sensors. Tower 30 may also be used to house and position EM field generators for detection by EM sensors within or on medical devices.

[0030] Tower 30 may also include console 31, in addition to other consoles available in the rest of the system, such as a console mounted on top of a cart. Console 31 may include a user interface and a display screen, such as a touch screen, for the physician operator. The consoles of system 10 are typically designed to provide both robot control and pre-operative and real-time information of the procedure, such as navigation and positioning information for the endoscope 13. If console 31 is not the only console available to the physician, a second operator, such as a nurse, may use console 31 to monitor the patient's health or vitals and the operation of the system, as well as to provide procedure-specific data such as navigation and positioning information. In other embodiments, console 30 is housed in a main body separate from tower 30.

[0031] The tower 30 can be connected to the cart 11 and the endoscope 13 via one or more cables or connectors (not shown). In some embodiments, support functions from the tower 30 may be supplied to the cart 11 through a single cable, simplifying and organizing the operating room. In other embodiments, specific functions may be combined through separate wiring and connectors. For example, power may be supplied to the cart through a single power cable, while support for control, optics, fluid mechanics, and / or navigation may be supplied through separate cables.

[0032] Figure 2 provides a detailed illustrative diagram of one embodiment of a cart from the cart-based robot-enabled system shown in Figure 1. The cart 11 typically includes an elongated support structure 14 (often referred to as the “column”), a cart base 15, and a console 16 located at the top of the column 14. The column 14 may include one or more carriages, such as carriages 17 (alternatively “arm supports”), for supporting the deployment of one or more robot arms 12 (three are shown in Figure 2). The carriages 17 may include individually configurable arm mounts that rotate along orthogonal axes to adjust the base of the robot arms 12 for better positioning relative to the patient. The carriages 17 also include a carriage interface 19 that allows the carriages 17 to translate vertically along the column 14.

[0033] The carriage interface 19 is connected to the column 14 through slots such as slots 20 positioned on both sides of the column 14 to guide the vertical translation of the carriage 17. The slots 20 house a vertical translation interface for positioning and holding the carriage at various vertical heights relative to the cart base 15. The vertical translation of the carriage 17 allows the cart 11 to adjust the reach of the robotic arm 12 to meet various table heights, patient sizes, and physician preferences. Similarly, individually configurable arm mounts on the carriage 17 allow the robotic arm base 21 of the robotic arm 12 to be angled in various configurations.

[0034] In some embodiments, a slot cover may be added to the slot 20, which is coplanar and parallel to the slot surface, to prevent dirt and fluid from entering the internal chamber of the column 14 and the vertical translation interface as the carriage 17 translates vertically. The slot cover may be deployed through a pair of spring spools positioned near the vertical top and bottom of the slot 20. The cover is coiled within the spools until it unfolds to extend and retract from a coiled state as the carriage 17 translates vertically up and down. The spring mechanism of the spools provides a force to retract the cover into the spool when the carriage 17 translates toward the spools, while also maintaining a seal when the carriage 17 translates toward the spools. The cover may be attached to the carriage 17, for example, using a bracket located at the carriage interface 19, to ensure proper extension and retraction of the cover as the carriage 17 translates.

[0035] Column 14 may contain internal mechanisms such as gears and motors, which are designed to use vertically aligned main screws to mechanically translate the carriage 17 in response to control signals generated in response to user input, for example, input from console 16.

[0036] The robotic arm 12 may generally comprise a robotic arm base 21 and an end effector 22 separated by a series of linkage mechanisms 23 connected by a series of joints 24, each joint having an independent actuator, and each actuator having an independently controllable motor. Each independently controllable joint represents an independent degree of freedom available to the robotic arm. Each arm 12 has seven joints, resulting in seven degrees of freedom. The numerous joints result in numerous degrees of freedom, enabling "redundant" degrees of freedom. Redundant degrees of freedom allow the robotic arm 12 to position its respective end effector 22 in space at a specific position, orientation, and trajectory using different linkage mechanism positions and joint angles. This allows the system to position and orient medical instruments from a desired point in space, while allowing a physician to move the arm joints to clinically advantageous positions away from the patient to provide greater access while avoiding arm collisions.

[0037] The cart base 15 balances the weight of the column 14, carriage 17, and arm 12 on the floor. Thus, the cart base 15 houses heavier components, such as electronics, motors, and power supplies, as well as components that enable either movement and / or fixing of the cart. For example, the cart base 15 includes rotatable wheel-shaped casters 25 that allow the cart to be easily moved around the room before treatment. Once it reaches the appropriate position, the casters 25 can be fixed using wheel locks to hold the cart 11 in place during treatment.

[0038] Positioned at the vertical end of column 14, the console 16 provides both preoperative and intraoperative data to the physician user, enabling both a user interface and display screen (or a dual-purpose device such as a touch screen 26) for receiving user input. Potential preoperative data on the touch screen 26 may include preoperative planning, navigation and mapping data derived from preoperative computed tomography (CT) scans, and / or notes from preoperative patient interviews. Intraoperative data on the display may include essential patient statistics such as respiration, heart rate, and / or pulse, along with optical information provided by tools, sensor information and coordinate information from sensors. The console 16 may be positioned and tilted to allow the physician to access the console from the column 14 side opposite the carriage 17. From this position, the physician can view the console 16, the robotic arm 12, and the patient while operating the console 16 from behind the cart 11. As shown in the figure, the console 16 also includes a handle 27 to assist in operating and stabilizing the cart 11.

[0039] Figure 3 illustrates one embodiment of a robot-enabled system 10 configured for ureteroscopy. In a ureteroscopy procedure, a cart 11 may be positioned to deliver a ureteroscope 32, a procedure-specific endoscope designed to follow the patient's urethra and ureters, to the patient's lower abdominal region. In ureteroscopy, it may be desirable for the ureteroscope 32 to be directly aligned with the patient's urethra to reduce friction and force on sensitive anatomical structures in that area. As shown, the cart 11 may be positioned at the legs of a table to allow a robotic arm 12 to position the ureteroscope 32 for direct linear access to the patient's urethra. From the legs of the table, the robotic arm 12 may insert the ureteroscope 32 along a virtual rail 33 directly into the patient's lower abdomen through the urethra.

[0040] After being inserted into the urethra using control techniques similar to those used in bronchoscopy, the ureteroscope 32 can be navigated to the bladder, ureters, and / or kidneys for diagnostic and / or therapeutic purposes. For example, the ureteroscope 32 can be directed to the ureters and kidneys, and a laser lithotripsy or ultrasonic lithotripsy device deployed downstream of the working channel of the ureteroscope 32 can be used to break up formed kidney stones. After lithotripsy is complete, the resulting stone fragments can be removed using a basket deployed downstream of the ureteroscope 32.

[0041] Figure 4 illustrates one embodiment of a robot-enabled system similarly positioned for vascular procedures. In a vascular procedure, the system 10 may be configured such that a cart 11 can deliver a medical instrument 34, such as a maneuverable catheter, to an access point in the femoral artery in the patient's leg. The femoral artery presents both a larger diameter for navigation and a winding path with relatively little detour to the patient's heart, thereby facilitating navigation. As in a ureteroscopy procedure, the cart 11 may be positioned toward the patient's leg and lower abdomen so that a robotic arm 12 can provide a virtual rail 35 with direct linear access to the femoral artery access point in the patient's thigh / hip region. After insertion into the artery, the medical instrument 34 can be directed and inserted by translating the instrument driver 28. Alternatively, the cart may be positioned around the patient's upper abdomen to reach alternative vascular access points, such as the carotid and brachial arteries near the shoulder and wrist.

[0042] B. Robot System - Table Embodiments of robot-enabled medical systems may also incorporate a patient table. Incorporating a table reduces the amount of capital equipment in the operating room by removing a cart and allows for better access to the patient. Figure 5 illustrates one embodiment of such a robot-enabled system configured for a bronchoscopy procedure. System 36 includes a support structure or column 37 for supporting a platform 38 (illustrated as “table” or “bed”) across the floor. Similar to a cart-based system, the end effector of the robotic arm 39 of system 36 includes an instrument driver 42 designed to manipulate elongated medical instruments, such as a bronchoscope 40 in Figure 5, through or along a virtual rail 41 formed from the linear alignment of the instrument driver 42. In practice, a C-arm for obtaining fluoroscopic imaging may be positioned across the patient’s upper abdominal region by placing the emitter and detector around the table 38.

[0043] Figure 6 provides, for consideration purposes, an alternative diagram of system 36 without a patient and medical equipment. As shown, the column 37 may include one or more carriages 43, shown as a ring shape in system 36, which may serve as the base for one or more robotic arms 39. The carriages 43 may translate along a vertical column interface 44 extending the length of the column 37, providing different viewpoints from which the robotic arms 39 can be positioned to reach the patient. The carriages 43 may rotate around the column 37 using a mechanical motor positioned within the column 37, allowing the robotic arms 39 to have access to multiple sides of a table 38, such as both sides of the patient. In embodiments with multiple carriages, the carriages may be positioned separately on the column and may translate and / or rotate independently of other carriages. The carriages 43 do not need to surround the column 37, nor do they even need to be circular, but the illustrated ring shape facilitates the rotation of the carriages 43 around the column 37 while maintaining structural balance. The rotation and translation of the carriage 43 allows the system to position medical instruments such as endoscopes and laparoscopes at different access points on the patient. In other embodiments (not shown), the system 36 may include a patient table or patient bed having adjustable arm supports in the form of bars or rails extending alongside it. One or more robotic arms 39 can be mounted on the adjustable arm supports that can be adjusted vertically (e.g., via shoulders having elbow joints). By providing vertical adjustment, the robotic arms 39 can be advantageously housed compactly under the patient table or patient bed and then raised during treatment.

[0044] The arm 39 may be mounted on the carriage via a set of arm mounts 45, which include a series of joints that can individually rotate and / or extend in a nesting manner to provide additional configurability for the robot arm 39. In addition, the arm mounts 45 may be positioned on the carriage 43 so that when the carriage 43 rotates appropriately, the arm mounts 45 can be positioned on the same side of the table 38 (as shown in Figure 6), on either side of the table 38 (as shown in Figure 9), or on adjacent sides of the table 38 (not shown).

[0045] Column 37 structurally provides support for the table 38 and a path for the vertical translation of the carriage. Internally, column 37 may be equipped with a main screw for guiding the vertical translation of the carriage and a motor for mechanizing the translation of the carriage based on the main screw. Column 37 may also transmit power signals and control signals to the carriage 43 and the robotic arm 39 mounted thereon.

[0046] The table base 46 performs a similar function to the cart base 15 of the cart 11 shown in Figure 2, and houses heavier components to balance the table / bed 38, column 37, carriage 43, and robot arm 39. The table base 46 may also incorporate rigid casters to provide stability during treatment. Casters extending from the bottom of the table base 46 extend in opposite directions on both sides of the base 46 and can be retracted when it is necessary to move the system 36.

[0047] Continuing with Figure 6, the system 36 may also include a tower (not shown) that divides the functions of the system 36 between the table and the tower, thereby reducing the form factor and bulk of the table. As in the embodiments disclosed previously, the tower may provide the table with various support functions such as processing power, computing power, and control power, power, fluid mechanics, and / or optical and sensor processing. The tower may also be movable to be positioned away from the patient to improve physician access and to keep the operating room tidy. In addition, placing components in the tower makes it possible to expand storage space on the table base for possible accommodation of robotic arms. The tower may also include a master controller or console that provides both a user interface for user input, such as a keyboard and / or pendant, and a display screen (or touch screen) for preoperative and intraoperative information, such as real-time imaging, navigation, and tracking information. In some embodiments, the tower may also house a holder for a gas tank used for ventilation.

[0048] In some embodiments, the table base can house and store a robotic arm when not in use. Figure 7 illustrates a system 47 for housing a robotic arm in an embodiment of a table base system. In system 47, the carriage 48 can be vertically translated into the base 49 so that the robotic arm 50, arm mount 51, and carriage 48 are housed within the base 49. The base cover 52 can be translated and retracted to open, allowing the carriage 48, arm mount 51, and arm 50 to be deployed around the column 53, and can be closed to house and protect them when not in use. The base cover 52 can be sealed with a membrane 54 along the edge of its opening to prevent the ingress of dirt and fluids when closed.

[0049] Figure 8 illustrates one embodiment of a robot-enabled table-based system configured for a ureteroscopy procedure. In a ureteroscopy, the table 38 may include a swivel section 55 for positioning the patient off-angle from the column 37 and the table base 46. The swivel section 55 may rotate or pivot about a pivot point (e.g., located below the patient's head) to position the bottom of the swivel section 55 away from the column 37. For example, pivoting the swivel section 55 may position a C-arm (not shown) across the patient's lower abdomen without competing for space with the column (not shown) below the table 38. By rotating a carriage 35 (not shown) around the column 37, a robotic arm 39 may directly insert a ureteroscope 56 into the patient's inguinal region along a virtual rail 57 to reach the urethra. In a ureteroscopy, stirrups 58 may also be fixed to the swivel section 55 of the table 38 to support the patient's leg position during the procedure and to allow clear access to the patient's inguinal region.

[0050] In laparoscopic procedures, minimally invasive instruments can be inserted into the patient's anatomical structures through small incisions in the patient's abdominal wall. In some embodiments, the minimally invasive instruments include slender, rigid members such as shafts used to access anatomical structures within the patient. After the patient's abdominal cavity is expanded, the instruments can be directed to perform surgical or medical tasks such as grasping, cutting, ablation, and suturing. In some embodiments, the instruments can include scopes such as laparoscopes. Figure 9 illustrates one embodiment of a robot-enabled table-based system configured for laparoscopic procedures. As shown in Figure 9, the carriage 43 of the system 36 can be rotated and vertically adjusted to position a pair of robotic arms 39 on either side of the table 38 so that instruments 59 can be positioned using arm mounts 45 to reach the patient's abdominal cavity through minimal incisions on either side of the patient.

[0051] To accommodate laparoscopic procedures, the robot-enabled table system may also tilt the platform to a desired angle. Figure 10 illustrates one embodiment of a robot-enabled medical system having pitch or tilt adjustment. As shown in Figure 10, the system 36 may position one part of the table higher off the floor than other parts to accommodate the tilt of the table 38. In addition, the arm mount 45 may rotate to match the tilt such that the arm 39 maintains the same planar relationship as the table 38. To accommodate steep angles, the column 37 may also include a nested portion 60 that allows vertical extension of the column 37 to prevent the table 38 from contacting the floor or colliding with the base 46.

[0052] Figure 11 provides a detailed illustrative diagram of the interface between the table 38 and the column 37. The pitch rotation mechanism 61 may be configured to change the pitch angle of the table 38 relative to the column 37 in multiple degrees of freedom. The pitch rotation mechanism 61 may be activated by positioning orthogonal axes 1 and 2 in the column-table interface, each axis being actuated by separate motors 3 and 4 in response to an electrical pitch angle command. Rotation along one screw 5 would allow for tilt adjustment along one axis 1, while rotation along the other screw 6 would allow for tilt adjustment along the other axis 2. In some embodiments, ball joints can be used to change the pitch angle of the table 38 relative to the column 37 in multiple degrees of freedom.

[0053] For example, pitch adjustment is particularly useful when positioning the table in the Trendelenburg position, that is, when positioning the patient's lower abdomen higher off the floor than the patient's lower abdomen for lower abdominal surgery. The Trendelenburg position allows gravity to slide the patient's internal organs down to the patient's upper abdomen, emptying the abdominal cavity when minimally invasive tools are inserted to perform lower abdominal surgical or medical procedures such as laparoscopic prostatectomy.

[0054] Figures 12 and 13 illustrate isometric and end views of alternative embodiments of the table-based surgical robot system 100. The surgical robot system 100 includes one or more adjustable arm supports 105 that can be configured to support one or more robot arms relative to the table 101 (see, for example, Figure 14). In the embodiments illustrated, a single adjustable arm support 105 is shown, but additional arm supports can be provided on the opposite side of the table 101. The adjustable arm supports 105 can be moved relative to the table 101 and configured so that the position of the adjustable arm support 105 and / or any robot arm mounted thereon can be adjusted and / or changed relative to the table 101. For example, the adjustable arm support 105 can be adjusted with one or more degrees of freedom relative to the table 101. The adjustable arm supports 105 provide the system 100 with high versatility, including the ability to easily accommodate one or more adjustable arm supports 105 and any robot arms mounted thereon under the table 101. The adjustable arm support 105 can be raised from its retracted position to a position below the upper surface of the table 101. In another embodiment, the adjustable arm support 105 can be raised from its retracted position to a position above the upper surface of the table 101.

[0055] The adjustable arm support 105 can provide several degrees of freedom, including lift, lateral translation, and tilt. In the illustrated embodiments of Figures 12 and 13, the arm support 105 comprises four degrees of freedom, which are illustrated by arrows in Figure 12. The first degree of freedom allows for adjustment of the adjustable arm support 105 in the z-direction ("Z-lift"). For example, the adjustable arm support 105 may include a carriage 109 configured to move up and down along or relative to a column 102 supporting the table 101. The second degree of freedom may allow the adjustable arm support 105 to tilt. For example, the adjustable arm support 105 may include a pivot joint, which may allow the adjustable arm support 105 to be aligned with a Trendelenburg position bed. The third degree of freedom allows the adjustable arm support 105 to "pivot up," which can be used to adjust the distance between the side of the table 101 and the adjustable arm support 105. A fourth degree of freedom can be enabled to allow translation of the adjustable arm support 105 along the longitudinal length of the table.

[0056] The surgical robot system 100 shown in Figures 12 and 13 may include a table supported by a column 102 mounted on a base 103. The base 103 and column 102 support the table 101 with respect to a support surface. The floor axis 131 and support axis 133 are shown in Figure 13.

[0057] An adjustable arm support 105 can be mounted on the column 102. In other embodiments, the arm support 105 can be mounted on the table 101 or the base 103. The adjustable arm support 105 may include a carriage 109, a bar or rail connector 111, and a bar or rail 107. In some embodiments, one or more robot arms mounted on the rail 107 can translate and move relative to each other.

[0058] The carriage 109 can be attached to the column 102 by a first joint 113, which allows the carriage 109 to move relative to the column 102 (for example, up and down on the first axis, i.e., the vertical axis 123). The first joint 113 can provide the adjustable arm support 105 with a first degree of freedom ("Z-lift"). The adjustable arm support 105 may include a second joint 115 that provides the adjustable arm support 105 with a second degree of freedom (tilt). The adjustable arm support 105 may include a third joint 117 that can provide the adjustable arm support 105 with a third degree of freedom ("pivot up"). A further joint 119 (shown in Figure 13) can be provided to mechanically restrain the third joint 117 to maintain the orientation of the rail 107 as the rail connector 111 is rotated around the third axis 127. The adjustable arm support 105 may include a fourth joint 121 that can provide the adjustable arm support 105 with a fourth degree of freedom (translation) along a fourth axis 129.

[0059] Figure 14 illustrates an end view of a surgical robotic system 140A with two adjustable arm supports 105A and 105B mounted on either side of a table 101. A first robotic arm 142A is mounted on a bar or rail 107A of the first adjustable arm support 105B. The first robotic arm 142A includes a base 144A mounted on the rail 107A. The distal end of the first robotic arm 142A includes an instrument drive mechanism 146A that can be attached to one or more robotic medical instruments or robotic medical tools. Similarly, a second robotic arm 142B includes a base 144B mounted on the rail 107B. The distal end of the second robotic arm 142B includes an instrument drive mechanism 146B. The instrument drive mechanism 146B can be configured to be attached to one or more robotic medical instruments or robotic medical tools.

[0060] In some embodiments, one or more of the robot arms 142A, 142B have an arm with seven or more degrees of freedom. In some embodiments, one or more of the robot arms 142A, 142B may have eight degrees of freedom, including an insertion axis (one degree of freedom including insertion), a wrist (three degrees of freedom including wrist pitch, yaw, and roll), an elbow (one degree of freedom including elbow pitch), a shoulder (two degrees of freedom including shoulder pitch and yaw), and a base 144A, 144B (one degree of freedom including translation). In some embodiments, the insertion degree of freedom can be provided by the robot arms 142A, 142B, but in other embodiments, the instrument itself provides insertion via an insertion architecture of the instrument base.

[0061] C. Appliance Drivers and Interfaces The end effector of the system's robotic arm includes (i) an instrument driver (alternatively referred to as “instrument drive mechanism” or “instrument device manipulator”) incorporating electromechanical means for operating a medical instrument, and (ii) a removable or detachable medical instrument which may lack any electromechanical components such as a motor. This dichotomy may arise from the need to sterilize medical instruments used in medical procedures and the inability to adequately sterilize expensive capital equipment due to the complex mechanical assembly and sensitive electronics of the medical instruments. Therefore, medical instruments may be designed to be separated, detached, and replaced from the instrument driver (and by extension, the system) during individual sterilization or disposal by the physician or physician's staff. The instrument driver, on the other hand, does not need to be replaced or sterilized and may be draped for protection.

[0062] Figure 15 illustrates an exemplary instrument driver. Positioned at the distal end of a robotic arm, the instrument driver 62 consists of one or more drive units 63 arranged in parallel axes to provide controlled torque to a medical instrument via a drive shaft 64. Each drive unit 63 includes a separate drive shaft 64 for interacting with the instrument, a gearhead 65 for converting motor shaft rotation into a desired torque, a motor 66 for generating the drive torque, an encoder 67 for measuring the motor shaft speed and providing feedback to the control circuit, and a control circuit 68 for receiving a control signal and operating the drive unit. Each drive unit 63 is controlled and motorized independently of others, and the instrument driver 62 may provide multiple (four in Figure 15) independent drive outputs to the medical instrument. When operating, the control circuit 68 receives a control signal, transmits a motor signal to the motor 66, compares the resulting motor speed measured by the encoder 67 with a desired speed, modulates the motor signal to generate the desired torque.

[0063] For procedures requiring a sterile environment, robotic systems may incorporate drive interfaces such as sterilization adapters connected to a sterilization drape, positioned between the instrument driver and the medical instrument. The primary purpose of the sterilization adapter is to transmit angular motion from the instrument driver's drive shaft to the instrument's drive input while maintaining physical separation of the drive shaft and drive input, and thus sterility. Thus, an example of a sterilization adapter may consist of a set of rotational inputs and outputs intended to be opposed to the instrument driver's drive shaft, and a drive input to the instrument. The sterilization drape connected to the sterilization adapter is made of a thin, flexible material such as clear or translucent plastic and is designed to cover the instrument driver, robotic arm, and capital equipment such as a cart (in a cart-based system) or table (in a table-based system). The use of the drape allows the capital equipment to be positioned close to the patient while still being located in an area that does not require sterilization (i.e., a non-sterilized field). On the other side of the sterilization drape, the medical instrument can interact with the patient in an area that requires sterilization (i.e., a sterile field).

[0064] D. Medical devices Figure 16 illustrates an exemplary medical instrument having a pair of instrument drivers. Like other instruments designed for use in robotic systems, the medical instrument 70 includes an elongated shaft 71 (or elongated body) and an instrument base 72. The instrument base 72, also referred to as an “instrument handle” due to its design intended for manual interaction by a physician, may include a rotary drive input 73, such as a receptacle, pulley, or spool, which is designed to face a drive output 74 that penetrates the drive interface on the instrument driver 75 at the distal end of a robotic arm 76. When physically connected, latched, and / or coupled, the opposing drive input 73 of the instrument base 72 may share a rotation axis with the drive output 74 in the instrument driver 75, allowing for the transmission of torque from the drive output 74 to the drive input 73. In some embodiments, the drive output 74 may include a spline designed to face a receptacle on the drive input 73.

[0065] The slender shaft 71 is designed to be delivered through either an anatomical opening or lumen, such as in endoscopy, or a minimally invasive incision, such as in laparoscopy. The slender shaft 71 may be either flexible (e.g., having properties similar to an endoscope) or rigid (e.g., having properties similar to a laparoscope), or may include a customized combination of both flexible and rigid portions. When designed for laparoscopy, the distal end of a rigid slender shaft may be connected to an end effector extending from an articulated list formed from a clevis having at least one degree of freedom, and which can be actuated based on force from a tendon as the drive input rotates in response to torque received from the drive output 74 of the instrument driver 75, for example, a surgical tool or medical instrument such as a grasping instrument or scissors. When designed for endoscopy, the distal end of a flexible slender shaft may include a maneuverable or controllable bend that can be articulated and bent based on torque received from the drive output 74 of the instrument driver 75.

[0066] Torque from the instrument driver 75 is transmitted downstream of the elongated shaft 71 via tendons along the shaft 71. These individual tendons, such as pull wires, can be individually secured to individual drive inputs 73 within the instrument handle 72. From the handle 72, the tendons travel one or more pull lumens along the elongated shaft 71 and are secured to the distal portion of the elongated shaft 71 or to a wrist located at the distal portion of the elongated shaft. During surgical procedures such as laparoscopy, endoscopic procedures, or hybrid procedures, these tendons may be coupled to distally attached end effectors such as wrists, grasping instruments, or scissors. In such arrangements, the torque applied to the drive inputs 73 will actuate the end effectors in some way by transmitting tension to the tendons. In some embodiments, during surgical procedures, the tendons may move the end effectors in one direction or another by rotating the joints around an axis. Alternatively, the tendon may be connected at the distal end of the elongated shaft 71 to one or more jaws of a gripping device, which is closed by tension from the tendon.

[0067] In endoscopy, tendons may be coupled to a flexure or articulation point positioned along an elongated shaft 71 (e.g., distal end) via adhesive, a control ring, or other mechanical fixation. When fixed and attached to the distal end of the flexure, the torque applied to the drive input 73 is transmitted to the tendon, causing the softer flexure (sometimes referred to as the articulation point or articulation area) to bend or articulate. Along the non-flexure, it may be convenient to equilibrium the radial forces resulting from the tension in the pull wire by making individual pull lumens that direct individual tendons along (or inward) the wall of the endoscope shaft threaded or spiral. The angle of the threads and / or spacing between these may be modified or designed for a specific purpose; narrower threads result in inferior shaft compression under load, while fewer threads result in superior shaft compression under load, but also exhibit bending limitations. At the other end of the spectrum, by orienting the lumen parallel to the longitudinal axis of the elongated shaft 71, controlled joint movement at the desired bending or jointing portion can be enabled.

[0068] In endoscopic procedures, the elongated shaft 71 houses several components that support robotic procedures. This shaft may consist of working channels for positioning surgical tools (or medical instruments), irrigation, and / or aspiration into the surgical area at the distal end of the shaft 71. The elongated shaft 71 may also house wires and / or optical fibers that transmit signals to and from an optical assembly at the distal tip, which may include an optical camera. The shaft 71 may also house optical fibers for transporting light from a proximal light source, such as a light-emitting diode, to the distal end of the shaft.

[0069] At the distal end of the instrument 70, the distal tip may also include an opening for a working channel for delivering the tool to the surgical site for diagnosis and / or treatment, irrigation, and aspiration. The distal tip may also include a port for a camera, such as a fiberscope or digital camera, to capture images of the internal anatomical space. In this regard, the distal tip may also include a port for a light source to illuminate the anatomical space when using the camera.

[0070] In the example in Figure 16, the drive shaft axis, and therefore the drive input axis, is perpendicular to the axis of the elongated shaft. However, this arrangement complicates the rolling capability of the elongated shaft 71. As the elongated shaft 71 is rolled along its axis while the drive input 73 is stationary, undesirable tendon entanglement occurs as the tendon exits the drive input 73 and enters the lumen within the elongated shaft 71. Such resulting tendon entanglement can interfere with any control algorithm intended to predict the movement of the flexible elongated shaft during endoscopic procedures.

[0071] Figure 17 illustrates an alternative design for a tool driver and tool in which the axes of the drive units are parallel to the axes of the tool's elongated shafts. As shown, the circular tool driver 80 comprises four drive units whose drive outputs 81 are aligned parallel to the end of the robot arm 82. The drive units and their respective drive outputs 81 are housed in a rotating assembly 83 of the tool driver 80, which is driven by one of the drive units within the assembly 83. In response to the torque provided by the rotating drive units, the rotating assembly 83 rotates along a circular bearing that connects the rotating assembly 83 to the non-rotating portion 84 of the tool driver. Power and control signals may be transmitted from the non-rotating portion 84 of the tool driver 80 to the rotating assembly 83 through electrical contacts and may be maintained through rotation by brushed slip ring connections (not shown). In other embodiments, the rotating assembly 83 may be integrated into a non-rotating portion 84 and therefore respond to a separate drive unit that is not parallel to the other drive units. The rotation mechanism 83 enables the equipment driver 80 to rotate the drive unit and its respective drive outputs 81 as a single unit centered on the equipment driver shaft 85.

[0072] Similar to the embodiments disclosed previously, the instrument 86 may include a portion of an elongated shaft 88 and an instrument base 87 (shown by a transparent outer skin for consideration purposes) which includes a plurality of drive inputs 89 (such as receptacles, pulleys, and spools) configured to receive drive outputs 81 in the instrument driver 80. Unlike the embodiments disclosed previously, the instrument shaft 88 extends from the center of the instrument base 87, with its axis substantially parallel to the axis of the drive inputs 89, rather than being orthogonal as seen in the design of Figure 16.

[0073] When coupled to the rotating assembly 83 of the instrument driver 80, the medical instrument 86, including the instrument base 87 and instrument shaft 88, rotates with the rotating assembly 83 around the instrument driver shaft 85. Because the instrument shaft 88 is positioned at the center of the instrument base 87, the instrument shaft 88 becomes coaxial with the instrument driver shaft 85 when mounted. Therefore, the rotation of the rotating assembly 83 causes the instrument shaft 88 to rotate around its own longitudinal axis. Furthermore, because the instrument base 87 rotates with the instrument shaft 88, none of the tendons connected to the drive input 89 on the instrument base 87 become entangled during rotation. Thus, the parallelism of the axes of the drive output 81, drive input 89, and instrument shaft 88 allows for shaft rotation without any control tendons becoming entangled.

[0074] Figure 18 illustrates an instrument having an instrument-based insertion architecture according to several embodiments. Instrument 150 can be coupled to any of the instrument drivers discussed above. Instrument 150 comprises an elongated shaft 152, an end effector 162 connected to the elongated shaft 152, and a handle 170 coupled to the elongated shaft 152. The elongated shaft 152 comprises a tubular member having a proximal portion 154 and a distal portion 156. The elongated shaft 152 comprises one or more channels or grooves 158 along its outer surface. The grooves 158 are configured to receive one or more wires or cables 180 passing through them. Thus, one or more cables 180 extend along the outer surface of the elongated shaft 152. In other embodiments, the cables 180 may also extend through the elongated shaft 152. The operation of one or more cables 180 (for example, via a device driver) brings about the operation of the end effector 162.

[0075] The fixture handle 170, sometimes also referred to as the fixture base, may typically include one or more mechanical inputs 174, such as a mounting interface 172 having a receptacle, pulley, or spool, which are designed to face each other with one or more torque couplers on the mounting surface of the fixture driver.

[0076] In some embodiments, the instrument 150 includes a series of pulleys or cables that allow the elongated shaft 152 to translate relative to the handle 170. In other words, the instrument 150 itself constitutes an insertion architecture of the instrument base that is adapted to the insertion of the instrument, thus minimizing reliance on the robotic arm to perform the insertion of the instrument 150. In other embodiments, the robotic arm may be primarily responsible for the insertion of the instrument.

[0077] E. Controller Any of the robotic systems described herein may include an input device or controller for operating an instrument attached to a robotic arm. In some embodiments, the controller may be linked to the instrument (e.g., communicatively, electronically, electrically, wirelessly, and / or mechanically) so that operation of the controller triggers a corresponding operation of the instrument, for example, via master-slave control.

[0078] Figure 19 is a perspective view of an embodiment of the controller 182. In this embodiment, the controller 182 is a hybrid controller that can have both impedance control and admittance control. In other embodiments, the controller 182 may utilize only impedance control or passive control. In other embodiments, the controller 182 may utilize only admittance control. Being a hybrid controller, the controller 182 has the advantage of being able to reduce perceived inertia during use.

[0079] In the illustrated embodiment, the controller 182 is configured to enable the operation of two medical devices and includes two handles 184. Each of the handles 184 is connected to a gimbal 186. Each gimbal 186 is connected to a positioning platform 188.

[0080] As shown in Figure 19, each positioning platform 188 includes a SCARA arm (selective compliance assembly robot arm) 198 coupled to a column 194 by a linear joint 196. The linear joint 196 is configured to translate along the column 194 (e.g., along the rail 197) to allow each of the handles 184 to translate in the z direction, providing a first degree of freedom. The SCARA arm 198 is configured to allow the handles 184 to move in the xy plane, providing two additional degrees of freedom.

[0081] In some embodiments, one or more load cells are positioned within the controller. For example, in some embodiments, load cells (not shown) are positioned on each body of the gimbal 186. By providing load cells, a portion of the controller 182 can operate under admittance control, thereby advantageously reducing the perceived inertia of the controller during use. In some embodiments, the positioning platform 188 is configured for admittance control, while the gimbal 186 is configured for impedance control. In other embodiments, the gimbal 186 is configured for admittance control, and the positioning platform 188 is configured for impedance control. Thus, in some embodiments, the translational or positional degrees of freedom of the positioning platform 188 may depend on admittance control, while the rotational degrees of freedom of the gimbal 186 may depend on impedance control.

[0082] F. Navigation and Control Conventional endoscopy may involve the use of fluoroscopy (e.g., delivered via a C-arm) and other forms of radiation-based imaging modalities to provide intracavitary guidance to the operating physician. In contrast, the robotic systems intended by this disclosure can provide non-radiation-based navigation and localization means to reduce physician exposure to radiation and reduce the amount of equipment in the operating room. As used herein, the term “localization” may mean determining and / or monitoring the position of an object within a reference coordinate system. Techniques such as preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to achieve a radiation-free surgical environment. In other cases where radiation-based imaging modalities are still used, preoperative mapping, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to improve information that can only be obtained through radiation-based imaging modalities.

[0083] Figure 20 is a block diagram illustrating a positioning system 90 for estimating the position of one or more elements of a robotic system, such as the position of an instrument, according to an exemplary embodiment. The positioning system 90 may be a set of one or more computer devices configured to execute one or more instructions. The computer devices may be embodied by one (or more) processors and computer-readable memory in one or more components considered above. For example, and not limited to, the computer devices may be the tower 30 shown in Figure 1, the carts shown in Figures 1 to 4, and the beds shown in Figures 5 to 14.

[0084] As shown in Figure 20, the positioning system 90 may include a positioning module 95 that processes input data 91-94 to generate position data 96 of the distal end of a medical device. The position data 96 may be data or logic representing the position and / or orientation of the distal end of the device relative to a reference frame. The reference frame may be a reference frame relative to the anatomical structure of a patient or to a known object such as an EM field generator (see the following discussion on EM field generators).

[0085] Here, various input data 91-94 are described in more detail. Preoperative mapping can be achieved through the use of low-dose CT scan acquisition. Preoperative CT scans are reconstructed into three-dimensional images that are visualized, for example, as “slice” of the patient’s internal anatomical structures. When analyzed as a whole, image-based models can be generated that target anatomical cavities, anatomical spaces, and anatomical structures of the patient’s anatomical structures, such as the patient’s lung network. Techniques such as centerline shape may be determined from the CT images and approximated to unfold a three-dimensional volume of the patient’s anatomical structures, referred to as model data 91 (also referred to as “preoperative model data” if generated using only preoperative CT scans). The use of centerline shape is discussed in U.S. Patent Application No. 14 / 523,760, the content of which is incorporated in its entirety herein. Network phase models can also be derived from CT images and are particularly suitable for bronchoscopy.

[0086] In some embodiments, the instrument may be equipped with a camera to provide visual data 92. A localization module 95 may process the visual data to enable one or more vision-based localization tracking. For example, preoperative model data may be used in conjunction with the visual data 92 to enable computer vision-based tracking of a medical instrument (e.g., an endoscope, or an instrument that advances through the working channel of an endoscope). For example, using preoperative model data 91, a robotic system may generate a library of endoscopic images predicted from the model based on the expected movement path of the endoscope, with each image linked to a position in the model. During surgery, this library may be referenced by the robotic system to aid in localization by comparing real-time images captured by a camera (e.g., a camera at the distal end of the endoscope) with those in the image library.

[0087] Other computer vision-based tracking techniques use feature tracking to determine the movement of the camera, and consequently, the endoscope. Some features of the localization module 95 can identify circular geometric shapes corresponding to anatomical lumens in preoperative model data 91, track changes in these geometric shapes, and determine which anatomical lumen was selected, as well as the relative rotation and / or translational movement of the camera. The use of phase maps can further enhance vision-based algorithms or techniques.

[0088] Optical flow, another computer vision-based technique, can analyze the displacement and translation of image pixels in a video sequence within visual data92 to infer camera movement. Examples of optical flow techniques include motion detection, object segmentation calculation, luminance, motion compensation coding, and stereoscopic disparity measurement. By comparing multiple frames across multiple iterations, the movement and position of the camera (and therefore the endoscope) can be determined.

[0089] The positioning module 95 can generate the real-time position of the endoscope in a global coordinate system that can be registered in the patient's anatomical structure represented by a preoperative model, using real-time EM tracking. In EM tracking, an EM sensor (or tracker) consisting of one or more sensor coils embedded in the medical instrument (e.g., the endoscopic instrument) at one or more positions and orientations measures fluctuations in the EM field produced by one or more static EM field generators positioned at known locations. The position information detected by the EM sensor is stored as EM data 93. The EM field generator (or transmitter) may be placed near the patient to produce a low-intensity magnetic field that the embedded sensor can detect. The magnetic field induces a small current in the sensor coil of the EM sensor, which can be analyzed to determine the distance and angle between the EM sensor and the EM field generator. These distances and orientations can be intraoperatively "oriented" to the patient's anatomical structure (e.g., preoperative model) to determine a geometric transformation that aligns the position in the preoperative model of the patient's anatomical structure with only one position in the coordinate system. Once aligned, an EM tracker embedded in one or more locations on the medical instrument (e.g., the distal tip of an endoscope) can provide a real-time display of the medical instrument's progression through the patient's anatomical structure.

[0090] Robot command and kinematic data 94 may also be used by a positioning module 95 to provide positioning data 96 for the robotic system. During preoperative calibration, device pitch and yaw derived from joint motion commands may be determined. Intraoperatively, these calibration measurements may be used in combination with known insertion depth information to estimate the position of the instrument. Alternatively, these calculations may be analyzed in combination with EM, vision, and / or phase modeling to estimate the position of the medical instrument within the network.

[0091] As shown in Figure 20, several other input data can be used by the positioning module 95. For example, although not shown in Figure 20, an instrument utilizing a shape-sensing fiber can provide shape data that the positioning module 95 can use to determine the position and shape of the instrument.

[0092] The positioning module 95 may use a combination of input data 91-94. In some cases, such a combination may use a probabilistic approach in which the positioning module 95 assigns confidence weights to locations determined from each of the input data 91-94. Therefore, if the EM data is unreliable (for example, if there is EM interference), the reliability of the location determined by the EM data 93 may decrease, and the positioning module 95 may rely more heavily on the visual data 92 and / or the robot command and kinematic data 94.

[0093] As discussed above, the robotic systems discussed herein may be designed to incorporate one or more combinations of the above technologies. A computer-based control system for a tower, bed, and / or cart-based robotic system may store computer program instructions in a non-temporary computer-readable storage medium, such as a persistent magnetic memory drive or a solid-state drive, which, when executed, cause the system to receive and analyze sensor data and user commands, generate control signals for the entire system, and display navigation and localization data such as the position of instruments in a global coordinate system and an anatomical map.

[0094] 2. Brake release device According to some embodiments, a robotic system can be configured to hold the arm in place, generally via a braking mechanism (e.g., as a "power-off brake"), when the power is turned off or a malfunction occurs. The braking mechanism may be located within and around the joints and links of the arm, thereby restricting the movement of the arm and preventing access to the patient.

[0095] Power-off brakes may be automatically activated by the robot system's controller or control system in the event of a fault trigger (e.g., sensor failure) or loss of power to the system. In certain systems, these power-off brakes may be sufficient to maintain the arm in a given position while allowing the arm to be "back-driveable" by the user. When back-driving by the user, the user applies a force greater than the force of the power-off brake used to maintain the joint or link in a given position. As a result, the user can articulate the arm to a given desired position, even when the power-off brake in the arm is activated. In addition, such robot systems may include a primary brake release, which may be activated by the user and implemented by the controller or control system.

[0096] However, in certain robotic systems, including those described above, certain arms may be difficult to backdrive when the power-off brake is applied. Robotic system 200 may have its own architecture in which its components include joints and brakes that are far more robust than those of the predicate's counterparts. As described above, these joints and brakes may be designed to support the very heavy weight of components of the robotic system such as the table 204, arm 210, tool driver 212, and tool 214, and at least they cannot be easily overcome by manual force or backdriven in the same way, as they support heavy loads.

[0097] Accordingly, Figures 21A and 21B illustrate a robotic system 200 that includes a plurality of movable joints 220 and links 216 for controlling the movement of an instrument driver 212 and an instrument 214 to perform a surgical procedure. In addition to the primary brake release that may be available to release the power-off brake system as discussed above, some embodiments of the robotic system 200 may further include a novel brake release system 230 having a secondary brake release mechanism or device 240, which may allow a user to release the power-off brake while the robotic system 200 is powered off or in a faulty state, for example, allowing a user to more easily manipulate the position of the robotic arm 210. In some applications, the secondary brake release device 240 may be used in the event of a patient emergency or other clinically relevant event occurring simultaneously with a robotic system failure, allowing the clinical operations team to move the arm 210 of the robotic system 200 to quickly allow access to the patient. Furthermore, in some applications, the brake release system 230 can be used with robotic systems configured to allow only a single arm to become immobile in the event of a failure, as well as with robotic systems configured to allow multiple arms to become immobile in the event of a failure. Optionally, the brake release system 230 can be used as a test device to check the functionality of a braking system by disabling a functioning control system.

[0098] The braking mechanism of the robot system 200 may be associated with and / or coupled to various joints 220 of the robot system 200. In the depicted example, the joints 220 may be designed to resist manual force so as not to be easily overcome by manual force in the event of power outage or failure. According to some embodiments disclosed herein, the robot system 200 may include a brake release system 230 having a secondary brake release device 240 which can allow a user to override a braking mechanism associated with one or more of the joints 220. Advantageously, some embodiments of the brake release system 230 can allow a user to perform one of a variety of actions or procedures, including accessing a patient on the system's bed or testing the functionality of the brakes, without affecting the connection between the power-off brake and the motor driver. In some applications, the arms of the robot system do not need to be back-driven so that the arms, joints, and brakes can be configured to be more robust and lock in place, resulting in improved integrity and functionality of the robot system while providing the user with the flexibility to selectively release the braking mechanism via the brake release system 230 as needed.

[0099] In some embodiments, the robot system 200 may be configured such that the joint 220 comprises first and second parts or links 216 that are movable relative to each other and relative to the base 202. As illustrated, the second part or link 216 may be coupled to a tool or instrument 214 via an instrument driver 212. A braking mechanism may selectively restrict the movement of the joint 220. The braking mechanism may have a braking material that is engageable between an engaged configuration and a disengaged configuration. In the engaged configuration, the braking material may restrict the movement of the second part or link 216 of the joint 220 relative to the first part or link 216 of the joint 220, and in the disengaged configuration, the braking material may allow the movement of the second link 216 of the joint 220 relative to the first link 216 of the joint 220. The braking mechanism may also include an electromagnetic assembly having a coil that may be energized to disengage the braking material from the engaged configuration to the disengaged configuration, thereby controlling the function of the braking mechanism. During operation, certain joints 220 can be selectively braked, while other joints 220 can remain active. In certain operating states (e.g., GCAB), the braking mechanisms on all joints 220 can be disengaged, allowing all joints 220 of the arm 210 to be repositioned.

[0100] Optionally, the joint 220 or other parts of the arm 210 may include additional resistance elements to provide nominal resistance to movement when the braking mechanism is disengaged. In some applications, the nominal resistance can prevent the arm 210 from falling onto the patient or otherwise moving in an unpredictable manner under its own weight.

[0101] Furthermore, according to some embodiments disclosed herein, the robot system 200 may also include a brake release system 230 having a user-commanded brake release device 240 that allows a user to disengage the braking mechanism independently of the primary control system. Thus, the user-commanded brake release device 240 can function as an alternative means for releasing one or more of the brake mechanisms of the robot system 200.

[0102] Figure 22 illustrates an electrical schematic of a brake release system 230 according to several embodiments. As described herein, the electric brake release system 230 may be used to selectively release a brake mechanism 222 associated with and / or coupled to one or more joints 220 or links 216 of a medical robot system 200. Advantageously, embodiments of the brake release system 230 can provide a level of safety and ease of use to the user when it is desired to move the arm 210 of the robot system 200 during a power-off or failure condition. In some embodiments, the brake release system 230 can release one or more joints 220 of the medical robot system 200. Furthermore, in some applications, the brake release system 230 can be used to release or otherwise control multiple joints 220 of the medical robot system 200.

[0103] In the illustrated example, the brake release system 230 can release the brake mechanism 222 independently of the control system of the robot system 200 by bypassing the control system and directly applying an appropriate current or power to the brake mechanism 222. In some embodiments, the brake release system 230 can apply an appropriate current or power to control or reduce the braking force of the brake mechanism 222, allowing the user to move the arm 210, while providing nominal resistance to prevent the arm 210 from moving or falling due to its own weight.

[0104] In some embodiments, the brake release system 230 can supply power to the brake mechanism 222 using a brake release device having an independent power source or any other suitable power source independent of the primary control system of the robot system 200.

[0105] As illustrated, the brake release device 240 can be electrically connected to the brake mechanism 222 to release the brake mechanism 222 or otherwise control the operation of the brake mechanism 210. In some embodiments, one or more blade connectors 252 of the brake release device 240 can be connected to corresponding electrical connectors on the mounting plate 260. In some embodiments, the brake release device 240 can be electrically connected to the mounting plate 260 by other preferred connections, including but not limited to contact connectors such as pogo pins or non-contact connectors such as induction loops. The electrical connectors on the mounting plate 260 can be electrically connected to the brake mechanism 222 via electrical connectors 262. In some embodiments, the brake release device 240 can be electrically connected directly to the brake mechanism 222 without the interface of the mounting plate 260. In some embodiments, the mounting plate 260 and / or the brake release device 240 can be connected to multiple brake mechanisms 222 corresponding to multiple joints 220 of the robot system 200.

[0106] In the depicted example, the brake release device 240 is connected to the brake mechanism 222 using redundant power lines and / or communication lines between the primary control system and the brake mechanism 222. In some embodiments, the brake release device 240 and / or mounting plate 260 are electrically connected to the brake mechanism 222 in parallel with the primary control system, allowing the brake mechanism 222 to be released independently by either the primary control system or the brake release device 240. Optionally, the brake release device 240 and / or mounting plate 260 may be electrically connected to the brake mechanism 222 in any other manner that allows the brake release device 240 to override or otherwise provide a signal instead of a signal from the primary control system to release the brake mechanism 222.

[0107] In some embodiments, the brake release device 240 can be coupled to and / or supported by the robot system 200. The brake release device 240 can be releasably or permanently coupled to a component of the robot system 200, such as an arm 210. For example, the body of the brake release device 240 can be coupled to a mounting plate 260. In some embodiments, the brake release device 240 can be integrated into or otherwise incorporated into the robot system 200 or its components.

[0108] In the depicted example, the brake release device 240 includes a power source or power supply 242 for energizing the brake mechanism 222. In some embodiments, the power supply 242 may include one or more disposable batteries, rechargeable batteries, capacitors, power provided by a utility provider (i.e., grid power), and / or power drawn from another part of the robot system 200 or from a battery. In some embodiments, the power supply 242 may include a cord or connector for receiving power from a utility provider or other power source, independent of the control system. Optionally, the brake release device 240 and / or the brake release system 230 may include a charging circuit for charging a battery or capacitor with energy received from the robot system 200. In some embodiments, the battery or capacitor may be charged by an external charging circuit. The external charging circuit may be integrated into the robot system 200 or a standalone device. The brake release device 240 may include a dedicated port for connecting the power supply 242 to the external charging circuit.

[0109] In some embodiments, the brake release device 240 may include a boost circuit or voltage regulator 246 to provide a desired output voltage range from an input received from a power supply 242. During operation, the voltage regulator 246 can increase the voltage level from the power supply 242 to a voltage suitable for releasing the brake mechanism 222, or a voltage that can otherwise release it. In some applications, the brake mechanism 222 may require about 24VDC within a tolerance range of + / - 7% to disengage or release. Therefore, in some embodiments, the voltage regulator 246 may also be configured to provide about 24VDC within a tolerance range of + / - 7%. In some embodiments, the voltage regulator 246 may be housed within the housing of the articulation 220. Furthermore, in certain applications, the power supply 242 may provide a voltage suitable for releasing the brake mechanism 222 without using the voltage regulator 246.

[0110] In the illustrated example, switch 244 controls the electrical connection between the power supply 242 and the brake mechanism 222, and can control the engagement and disengagement of the brake mechanism 222 by the brake release system 230. During operation, by engaging switch 244, the operator can complete the circuit between the power supply 242 and the brake mechanism 222, providing sufficient voltage to release the brake mechanism 222 and allow movement of each joint 220. By disengaging switch 244, the operator can interrupt the circuit between the power supply 242 and the brake mechanism 222, allowing the brake mechanism 222 to return to a de-energized, engaged, or braked state. In some embodiments, switch 244 can be an instantaneous switch, a toggle switch, or any other preferred type of switch.

[0111] In some applications, the operation of the brake release system 230 can be controlled from a remote location, such as outside the sterile field. For example, the switch 244 may be located separately from the body of the brake release device 240 and may be located in a physician's console or tower. In some embodiments, the operation of the switch 244 may be remotely controlled. The operation of the switch 244 may be remotely controlled from a physician's console, tower, or other remote control device.

[0112] Furthermore, in some applications, the brake release device 240 may not include a switch, and the connection or disconnection of the brake release device 240 from the brake release system 230 can be used to control the electrical connection between the power supply 242 and the brake mechanism 222, thereby controlling the engagement and disengagement of the brake mechanism 222 by the brake release system 230. During operation, by connecting the brake release device 240 to the brake release system 230, the operator can complete the circuit between the power supply 242 and the brake mechanism 222, providing sufficient voltage to release the brake mechanism 222 and allow movement of each joint 220. Similarly, by disconnecting the brake release device 240 from the brake release system 230, the operator can interrupt the circuit between the power supply 242 and the brake mechanism 222, allowing the brake mechanism 222 to return to a de-energized, engaged, or braked state.

[0113] In some embodiments, the brake release system 230 can generally provide information regarding the overall state of the brake release system 230 and the state of the brake release device 240. For example, in some embodiments, the brake release system 230 may include a brake release indicator 248 for communicating the release state of the brake mechanism 222. During operation, the brake release indicator 248 may communicate whether i) the brake mechanism 222 is engaged or braking the joint 220, or ii) the brake mechanism 222 is disengaged or released. In some applications, the brake release indicator 248 may communicate whether the brake mechanism has been disengaged or released due to the control system of the robot system 200 or by the brake release system 230. In some applications, the brake release indicator 248 may include one or more lights (e.g., light-emitting diodes), one or more audio signals, feedback communicated via a screen or graphical user interface, or feedback provided remotely via another device. In some embodiments, information regarding the brake release state can be communicated from the brake release system 230 to the robot system 200 and displayed via the robot system 200's graphical user interface.

[0114] Furthermore, in some embodiments, the brake release system 230 may include a battery status indicator 250 for communicating various parameters relating to the battery or power supply 242 of the brake release device 240. During operation, the battery status indicator 250 may communicate battery voltage or charge status, parameters relating to battery health if the primary or secondary battery is currently in use, and the current charge status. In some embodiments, the battery status indicator 250 may initiate a self-test of the battery or other suitable power supply 242. In some applications, the battery status indicator 250 may include one or more lights (e.g., light-emitting diodes), one or more audio signals, feedback communicated via a screen or graphical user interface, or feedback provided remotely via another device. In some embodiments, the battery status indicator 250 may indicate the charge status of the battery through a series of lights corresponding to the charge level. In some embodiments, information regarding the power supply 242 or battery status may be communicated from the brake release system 230 to the robot system 200 and displayed via the graphical user interface of the robot system 200. In some embodiments, status information and other parameters of the brake release system 230 may be displayed on a screen or other device via a graphical user interface. In some embodiments, the screen displaying the graphical user interface may be integrated into the brake release device 240.

[0115] In some embodiments, the brake release system 230 may generally include processing elements for sensing and / or controlling the operation of the robot arm 210 or the entire robot system 200. For example, in some embodiments, while the brake release device 240 is operating, the brake release system 230 may disconnect or otherwise disable power lines or communication lines from the primary control system of the robot system 200, thereby overriding the robot system 200. By disabling power or communication from the primary control system, the brake release system 230 can prevent intentional brake disengagement initiated by the brake release system 230 from being inadvertently overridden by the primary control system.

[0116] In some embodiments, the brake release system 230 can detect the robot system 200, or otherwise communicate with the robot system 200, to determine whether power to the robot system 200 and / or any specific joint 220 has been lost or interrupted. Furthermore, in some applications, the brake release system 230 can identify when it should be used and notify / instruct the user to release the brake mechanism 222. In addition, the brake release system 230 can communicate with the robot system 200 to identify unintended brake disengagement initiated by the brake release system 230 and override unintended or accidental brake disengagement commands.

[0117] In some embodiments, the brake release system 230 may perform a power-on self-test or other self-test to identify any faults. Furthermore, in some applications, additional information regarding the status of the brake release system 230, such as the installation status of the brake release device 230, the test status of the brake release device 240, and the usage status of the brake release device system 230, may be communicated from the brake release system 240 to the robot system 200 and displayed via the robot system 200's graphical user interface.

[0118] In some applications, the brake release system 230 may include communication and / or data storage elements for recording and / or transmitting information regarding the use of the brake release system 230 or the interaction between the brake release system 230 and the robot system 200 for retrieval or processing. For example, in some embodiments, the brake release system 230 may record operational information regarding the brake release system 230 in an event log. Optionally, the brake release system 230 may store information about the brake release system 230 in local memory. In some embodiments, information about the brake release system 230 may be stored in the local memory of the brake release device 240. For example, the brake release system 230 may store and provide manufacturing information, previous usage information, operation logs of the arm or joint 220 associated with the brake release system 230, software versions, and the like.

[0119] During operation, components of the brake release device 240 may generate heat. In some embodiments, the brake release system 230 may include one or more components for controlling, regulating, or otherwise maintaining the temperature of the brake release device 240. In some applications, the brake release system 230 may control, regulating, or otherwise maintain the temperature of the casing or housing of the brake release device 240 in accordance with a specific standard or specification such as IEC60601-1, so that a user can touch or otherwise handle the brake release device 240.

[0120] Figure 23 shows an electrical schematic diagram of a brake release device 240 according to several embodiments. In some embodiments, the brake release device 240 may include a thermocouple 253 for detecting the temperature of one or more components of the brake release device 240 and enabling the brake release system 230 to control the temperature of the brake release device 240.

[0121] In the depicted example, thermocouple 253 provides an output resistance in response to a detected temperature which may correspond to the temperature of the components or housing of the brake release device 240. Thermocouple 253 can be connected to the circuit of the brake release system 230. In some applications, the output of thermocouple 253 can be calibrated or characterized to correspond to the resistance output of thermocouple 253 with the measured temperature. Furthermore, the temperature output of thermocouple 253 can be calibrated or characterized to correspond to the temperature of the casing or housing, or otherwise, the “touch” temperature that a user may experience when handling the brake release device 240.

[0122] In some embodiments, the brake release system 230 can adjust the operation of the brake release device 240 in response to temperature feedback received from the thermocouple 253. For example, the brake release system 230 can reduce the power directed to the brake release mechanism 222, shorten the amount of time the brake release system 230 is energized or otherwise operating, and / or disable or shut down the brake release system 230 to lower the temperature of the brake release device 240. In some embodiments, the feedback signal (e.g., resistance value) corresponding to the sensed temperature of the thermocouple 253 can be compared to a reference value via a logic gate such as an AND gate. The resulting signal can be provided to a microprocessor to reduce or cut off power to a portion of the brake release device 240.

[0123] Figure 24 shows an electrical schematic of the brake release device 240 according to several embodiments. In some embodiments, the brake release device 240 may include a thermistor 255 that allows the brake release system 230 to control the temperature of the brake release device 240.

[0124] In the depicted example, thermistor 255 may change or vary its resistance based on the temperature to which it is exposed. Therefore, the resistance of thermistor 255 may correspond to the ambient temperature within the brake release device 240 or its components or housing. Thermistor 255 can be connected to the circuitry of the brake release system 230. In some applications, the resistance of thermistor 255 may be characterized to correspond to a measured temperature. Furthermore, the resistance value of thermistor 255 may be characterized to correspond to the temperature of the casing or housing, or otherwise, the "touch" temperature that a user might experience when handling the brake release device 240.

[0125] In some embodiments, the brake release system 230 can adjust the operation of the brake release device 240 in response to a resistance value received from the thermistor 255. For example, the brake release system 230 can reduce the power directed to the brake release mechanism 222, shorten the amount of time the brake release device 240 is energized or otherwise operating, and / or disable or otherwise shut down the brake release system 230 to lower the temperature of the brake release device 240. In some embodiments, a feedback signal (e.g., resistance value) corresponding to the sensed temperature of the thermistor 255 can be compared to a reference value via a logic gate such as an AND gate. The resulting signal can be provided to a microprocessor to reduce or cut off power to a portion of the brake release device 240.

[0126] In some embodiments, the thermistor 255 can be connected to the output of the amplification stage of the brake release device 240 so that the resistance value of the thermistor 255 can directly affect the output of the brake release device 240. During operation, as the resistance of the thermistor 255 changes with respect to temperature, the thermistor 255 can increase or decrease the resistance experienced by the amplification stage of the brake release device 240, thereby decreasing or increasing the output power directed to the brake release mechanism 222, and controlling the thermal output of the brake release device 240.

[0127] Figure 25 illustrates an electrical schematic of the brake release device 240 according to several embodiments. In some embodiments, the brake release device 240 may include a thermal fuse 257 to open or close the electrical circuit of the brake release system 230, allowing the brake release system 230 to control the temperature of the brake release device 240.

[0128] In the depicted example, the thermal fuse 257 can open or disconnect an electrical circuit in response to the thermal fuse 257 exceeding a target temperature or threshold temperature. The thermal fuse 257 can be calibrated or configured to open or disconnect at a desired temperature. In some embodiments, the thermal fuse 257 can be calibrated to open or disconnect at a temperature that allows an acceptable “touch” temperature that a user may experience when handling the brake release device 240.

[0129] In some embodiments, the thermal fuse 257 can be connected along various parts of the circuit of the brake release device 240 and / or the brake release system 230 to isolate a portion of the brake release system 230 if the thermal fuse 257 exceeds a threshold temperature, or otherwise to isolate that portion. For example, the thermal fuse 257 can be located in the power supply 242 or before the boost converter or voltage regulator 246. In some embodiments, the thermal fuse 257 can be located after the boost converter or voltage regulator 246, within the mounting plate 260, or elsewhere within the brake release system 230 and / or the robot system 200. In some embodiments, the thermal fuse 257 can disable a portion of the circuit that generates heat during operation. Furthermore, in some applications, the thermal fuse 257 can allow power to flow through the rest of the circuit so that the brake release system 230 can communicate with the robot system 200 and / or the user via a graphical user interface to indicate that the brake release system 230 has overheated and the brake release device 240 has been disabled.

[0130] In some embodiments, the thermal fuse 257 may be a resettable fuse or circuit breaker that can be reinstalled or reset after the thermal conditions have elapsed or been addressed, without replacing the thermal fuse 257. In some embodiments, the thermal fuse 257 may be automatically reset.

[0131] In some embodiments, the thermal fuse 257 may be a disposable fuse that can be replaced after a threshold temperature is exceeded. In some embodiments, a replacement thermal fuse 257 may break or open in response to a temperature rise over a long period of time, protecting the brake release system 230 from components that remain energized for an extended period. In some embodiments, the user may be prompted to replace the battery or power supply 242 of the brake release device 240 while the thermal fuse 257 is being replaced.

[0132] In some embodiments, the brake release device 240 and / or brake release system 230 may include timing circuits for detecting and controlling the duration of operation of the brake control system 230, in order to enable the brake release system 230 to control the temperature of the brake release device 240.

[0133] In the depicted example, the timing circuit can enable the brake release device 240 or brake release system 230 to operate for a predetermined period, which may correspond to the period during which the brake release device 240 reaches an expected temperature. In some applications, the timing circuit can be calibrated or characterized to correspond to a maximum operating time with a maximum allowable temperature or threshold temperature. Furthermore, the operating time of the timing circuit can be calibrated or characterized to correspond to a maximum allowable casing or housing temperature, or otherwise, a “touch” temperature that a user may experience when handling the brake release device 240. In some embodiments, the timing circuit may include an analog oscillator circuit, a microprocessor, or any other suitable circuit.

[0134] Figure 26 illustrates perspective views of a joint 220 having a brake release device 240 according to several embodiments. As illustrated, the brake release device 240 can be releasably coupled to a portion of the robot arm 210, for example, a portion of the robot system 200 including but not limited to a link 216 and a joint 220, or to a portion adjacent to the link 216 and / or joint 220. In some embodiments, the brake release device 240 can be externally coupled to the joint 220. Optionally, the brake release device 240 can be disposed within the robot system 200 or otherwise integrated with the robot system 200. In some embodiments, the brake release system 230 can include multiple brake release devices 240 for controlling multiple joints 220. The brake release devices 240 can similarly be coupled to a portion of the robot arm 210, or otherwise adjacent to each link 216 and / or joint 220.

[0135] In some embodiments, the brake release device 240 can be coupled to the robot system 200 under the sterile drape or before the sterile drape is attached. Optionally, the brake release device 240 may be sterilized and coupled to the robot system 210 or robot arm 200 outside or on the sterile drape, or otherwise, generally after the sterile drape has been attached to the robot arm 200 or robot system 210. Advantageously, the brake release device 240 can be installed without compromising the sterility of the robot system 200 by sterilizing the brake release device 240. In some embodiments, the brake release system 230 and / or robot system 200 may be able to identify whether the brake release device 240 is coupled to the robot system 200 under or on the sterile drape.

[0136] Figure 27 is a front view of the brake release device 240 of Figure 26. Figure 28 is a side cross-sectional view of the brake release device 240 of Figure 26. With respect to Figures 26 and 27, the components of the brake release device 240 described herein can be housed in a common housing. In some embodiments, the components of the brake release device 240 can be housed in a housing such that the housing can be configured to be compact in size (e.g., the size of a deck of cards or less). Optionally, the housing of the brake release device 240 may generally be rectangular or any other preferred shape. As illustrated, components of the brake release device 240, including but not limited to a power supply 242, a switch 244, a voltage regulator 246, and / or one or more blade connectors 252, can be housed in the housing of the brake release device 240. In the illustrated example, the blade connector 525 of the brake release device 240 may extend beyond the housing, through the housing, or outside the housing, allowing the brake release device 240 to be electrically connected to or otherwise interact with the robot system 200.

[0137] As described herein, the brake release device 240 can be releasably coupled or mounted to the robot system 200. For example, the brake release device 240 can be releasably coupled adjacent to a joint 220. As illustrated, the brake release device 240 may include a latch, extension, or feature 254 configured to engage with a mating interface of the robot system 200 or the joint 220, thereby enabling the brake release device 240 to be releasably mounted thereto.

[0138] Figure 29 illustrates a perspective view of the joint 220 of Figure 26. Figure 30 illustrates a perspective view of a mounting plate 260 according to several embodiments. Figure 31A illustrates a cross-sectional view of the brake release device 240 and mounting plate 260 of Figure 30 according to several embodiments. Figure 31B illustrates a cross-sectional view of the brake release device 240 and mounting plate 260 of Figure 30 according to several embodiments. Referring to Figures 29 to 31B, the robot system 200 may include an interface, mounting point, or mounting plate 260 to accept, releasably couple, or otherwise facilitate the attachment of the brake release device 240 to the robot system 200. As described herein, the mounting plate 260 may facilitate the physical attachment of the brake release device 240 to the robot system 200 and may also facilitate the electrical connection, attachment, or interface between the brake release device 240 and the robot system 200 (or a particular joint 220). As illustrated, the mounting plate 260 can be mounted on a part of the robot system 200, including but not limited to a link 216 or joint 220 of the robot arm 210, or a part of the robot system 200 adjacent to the link 216 or joint 220.

[0139] In some embodiments, the mounting plate 260 includes or defines a slot 264 for engaging with a portion of the brake release device 240 to releasably couple the brake release device 240 to the robotic system 200. As illustrated, the slot 264 of the mounting plate 260 may receive a portion of the brake release device 240 or a feature portion 254 to releasably engage the brake release device 240 with the mounting plate 260. In some embodiments, the feature portion 254 may extend through the slot 264 to releasably capture a portion of the mounting plate 260 between the housing of the brake release device 240 and the feature portion 254. The slot 264 may include a wider portion or opening to facilitate the location and insertion of the feature portion 254 within the slot 264 and a narrower portion to hold the feature portion 254 and the brake release device 240 against the mounting plate 260. As illustrated, the feature portion 254 can be inserted into and lowered within the slot 264 to hold the brake release device 240 within the mounting plate 260, and the feature portion 254 can be raised and removed through the slot 264 to remove the brake release device 240.

[0140] In some embodiments, the slot 264 may include a projection or feature for engaging with a portion of the brake release device 240 to hold the brake release device 240 in the engaged position. In some embodiments, the mounting plate 260 may include a portion extending outward to provide a stopper for the brake release device 240 in order to position or place the brake release device 240 relative to the mounting plate 260. Optionally, a portion of the electrical connector 262 of the mounting plate 260 may function as a stopper for the brake release device 240.

[0141] In some applications, the mounting plate 260 may utilize other features or mechanisms to releasably couple with the brake release device 240. For example, the mounting plate 260 and the brake release device 240 may utilize a magnetic interface or clip to attach to the brake release device 240.

[0142] Referring to the schematic diagrams (and accompanying descriptions) of Figures 22 to 25, and as illustrated at least in Figures 29 to 31B, the mounting plate 260 may further include an electrical connector 262 to facilitate electrical connection between the brake release device 240 and the robot system 200. As illustrated, the electrical connector 262 may engage with an electrical connection of the brake release device 240, such as the blade connector 252 of the brake release device 240, to enable electrical signals to be transmitted between the brake release device 240 and the robot system 200, allowing the brake release device 240 to selectively release the brake mechanism of the joint 220. In some applications, the electrical connector 262 of the mounting plate 260 may be aligned or otherwise configured to enable electrical connection between the brake release device 240 and the robot system 200 when the brake release device 240 is mechanically engaged or held by the mounting plate 260. In some embodiments, the electrical connector 262 may work in conjunction with a slot 264 to mechanically hold the brake release device 240. In some applications, the brake release device 240 may be electrically connected to or communicate with the robot system 200 without mechanically coupling the brake release device 240 to the mounting plate 260. In some embodiments, the brake release device 240 is a handheld unit and may be connected to the robot system 200 by wire or wirelessly. For example, in some applications, the electrical connector 262 may receive a connector from a handheld brake release device 240 located away from the mounting plate 260.

[0143] In some embodiments, the clinician may install the brake release device 240 on the mounting plate 260 for an extended period or semi-permanently. In some applications, the brake release device 240 may be stored attached to the mounting plate 260 or detached from the mounting plate 260 and stored separately. In some embodiments, the brake release device 240 may be stored under the operating table, on the tower of the robotic system 200, or together with any other part or component of the robotic system 200. For example, the brake release device 240 may be stored on a designated shelf or attached to a magnetized part of the robotic system 200 (e.g., a magnetized part of the base). In some embodiments, the brake release device 240 may be stored or attached to a handheld element of the robotic system 200 so that the clinician can quickly access the brake release device 240 as needed.

[0144] In some embodiments, the storage location may include one or more sensors for detecting the presence and status of the brake release device 240. For example, the robotic system 200 may notify a clinician whether the brake release device 240 is stored, available, and / or ready for use. In some applications, the robotic system 200 may prevent or warn against the commencement of a procedure if the brake release device 240 is not available or ready for use. In some embodiments, the brake release device 240 may include an RFID or EEPROM component for communicating information about the device to the robotic system 200, such as the model, charge status, and last preventive maintenance. In some embodiments, the robotic system 200 may use a Hall sensor, a reed switch, or the like to detect the presence or absence of the brake release device 240 from the storage location.

[0145] Figure 32 illustrates cross-sectional views of a brake release device 340 and a mounting plate 360 ​​according to several embodiments. In some embodiments, the brake release device 340 may include features and components similar to those of the brake release device 240, including at least the features schematically depicted in Figures 22 to 25 (and described in the accompanying description). Referring to Figure 32, in some embodiments, the mounting plate 360 ​​includes or defines a groove 364 for engaging with a portion of the brake release device 340 to releasably couple the brake release device 340 to a robotic system. As illustrated, the groove 364 may receive a portion or feature 354 to releasably engage the brake release device 340 with the mounting plate 360. In some embodiments, the groove 364 and / or a portion of the feature 354 may deform or "snap" to hold the feature 354 within the groove 364 and hold the brake release device 340. During operation, the leading edge of the feature portion 354 is inserted into the groove 364, allowing the feature portion 354 and the brake release device 340 to pivot relative to the mounting plate 360, and allowing the trailing edge of the feature portion 354 to engage, deform, or "snap" into a predetermined position within the groove 364. Similarly, the feature portion 354 can be disengaged from the groove 364, allowing the brake release device 340 to be removed.

[0146] Figure 33 illustrates cross-sectional views of a brake release device 440 and a mounting plate 460 according to several embodiments. In some embodiments, the brake release device 440 may include features and components similar to those of the brake release device 240, including at least the features schematically depicted in Figures 22–25 (and described in the accompanying description). Referring to Figure 33, in some embodiments, the mounting plate 460 includes or defines a socket 464 for engaging with one or more portions of the brake release device 440 to releasably connect the brake release device 440 to a robotic system. As illustrated, the socket 464 may receive a prong or extension 454 to releasably engage the brake release device 440 to the mounting plate 460. In some embodiments, a portion of the socket 464 and / or extension 454 may deform or "snap" to hold the extension 454 within the socket 464 and hold the brake release device 440. During operation, the extension 454 can be inserted into the corresponding socket 464, and the brake release device 440 can be coupled to the mounting plate 460. Similarly, the extension 454 can be pulled to disengage it from the socket 464, and the brake release device 440 can be removed.

[0147] Figure 34 illustrates a switch 244 of a brake release device 240 according to several embodiments. Referring to the schematic diagrams (and accompanying descriptions) of Figures 22–25, and at least as illustrated in Figure 34, the switch 244 allows a user to interface with or control the operation of the brake release device 240 and / or the brake release system 230. For example, the switch 244 may allow a user to selectively release the brake mechanism 222 and move the joint 220 using the brake release system 230. As described herein, the switch 244 can control the electrical connection between the power supply in the brake release device 240 and the brake mechanism of the joint 220.

[0148] In some embodiments, switch 244 may be a push button located on the outer surface of the housing of the brake release device 240. As illustrated, switch 244 may be located on the upper surface of the housing of the brake release device 240. During operation, the user can engage or disengage switch 244 by pressing or otherwise activating it, and thus activate or deactivate the brake release device 240. In some embodiments, switch 244 may be an instantaneous switch that requires the user to continuously press or activate switch 244 in order to activate the brake release device 240. In some embodiments, switch 244 may be a latch switch that locks or engages in an activated or deactivated position, allowing the user to activate the brake release device 240 without continuously holding switch 244. During operation, switch 244 may be pressed, continuously activated, or otherwise moved to another position in order to deactivate switch 244 and the brake release device 240. In some applications, the switch 244 can be recessed from the surface of the housing of the brake release device 240 to prevent the user from inadvertently activating the brake release device 240. Furthermore, the operating force and / or depth of the switch 244 can be configured to prevent inadvertent activation of the brake release device 240.

[0149] Figure 35 illustrates a switch cover 245 of the brake release device of Figure 34 in several embodiments. Referring to Figures 34 and 35, the brake release device 240 may include a switch cover 245 to restrict accidental operation of the brake release device 240. As illustrated, the switch cover 245 may prevent accidental operation of the switch 244 by blocking or covering the switch 244 until the brake release device 240 is intentionally activated. Before the brake release device 240 is activated, the switch cover 245 may be moved or rotated to allow access to the switch 244. In some embodiments, the switch cover 245 includes a recess 247 to facilitate the movement or handling of the switch cover 245. Optionally, the switch cover 245 may be spring-loaded or biased to return to a closed or covered position. In some applications, when a clinician wishes to release the braking mechanism of a robotic system, a three-step process may be performed: in the first step, a brake release device 240 is placed on a mounting plate 260 of the robotic system 200; in the second step, a switch cover 245 is moved to allow access to a switch 244, confirming that the clinician intends to release the desired braking mechanism; and in the third step, the switch 244 is pressed to release the desired braking mechanism.

[0150] Figure 36 illustrates a switch 544 of a brake release device 540 according to several embodiments. In some embodiments, the brake release device 540 may include features and components similar to those of the brake release device 240, including at least the features schematically depicted in Figures 22 to 25 (and described in the accompanying description). In some embodiments, the switch 544 can control the operation of the brake release device 540 from a remote location located away from the device. As illustrated, the switch 544 may be independently disposed on any preferred part or component of the robot system 500. For example, the switch 544 may be disposed adjacent to each joint 520 of the robot system 500. As described herein, the switch 544 may allow a user to selectively release the brake mechanism to move the joint 520 using the brake release system 530. Advantageously, by positioning the switch 544 remotely or independently of the brake release device 540, the brake release device 540 can be positioned in any preferred location, while the switch 544 can be positioned in a location accessible to a clinician. In some embodiments, the switch 544 may be positioned to avoid accidental activation of the brake release device 540.

[0151] Figure 37 illustrates perspective views of an arm 610 having a plurality of brake release devices 640 according to several embodiments. In some embodiments, each brake release device 640 may include features and components similar to those of a brake release device 240, including at least the features schematically depicted in Figures 22 to 25 (and described in the accompanying description). In the depicted examples, the brake release system 630 may include a plurality of brake release devices 640 for controlling the movement of each of the plurality of joints 620. Thus, during operation, the brake release system 630 may allow a clinician to move the plurality of joints 620 of the arm 610 during a malfunction experienced by the robot system 600 by utilizing the plurality of each brake release device 640. In some applications, the clinician may activate the plurality of brake release devices 640 simultaneously to move the plurality of joints 620 of the arm 610 at the same time. In some applications, the clinician may selectively or sequentially activate one or more brake release devices 640 to move one or more of the respective joints 620 at a time. As described herein, each brake release device 640 may correspond to or otherwise interface with a respective joint 620. As illustrated, a brake release device 640 may be coupled to or otherwise positioned adjacent to each joint 620 controlled by the brake release device 640. In some applications, a brake release device 640 may selectively control one or more joints 620 of the robot system 600. Furthermore, in some embodiments, a brake release device 640 may move between multiple positions or interfaces to interact with various respective joints 620 of the robot system 600.

[0152] Figure 38 illustrates a perspective view of an arm-mounted brake release device 740 according to several embodiments. Figure 39 illustrates a reverse perspective view of the brake release device 740 of Figure 38. Figure 40 is a perspective view of the brake release device 740 of Figure 38. Figure 41 is a reverse perspective view of the brake release device 740 of Figure 38. In some embodiments, the brake release device 740 may include features and components similar to those of the brake release device 240, including at least the features schematically depicted in Figures 22 to 25 (and described in the accompanying description).

[0153] As illustrated, the brake release device 540 may be releasably coupled to a portion of a robot arm, for example, a portion of a robot system 700 including but not limited to a link and a joint 720, or to a portion adjacent to the link and / or joint 720. In some embodiments, the brake release device 740 may be externally coupled to the joint 720.

[0154] In some embodiments, the housing of the brake release device 740 may be molded to fit around or rest on a portion of the robot system 700, or otherwise configured. As illustrated, the housing of the brake release device 740 may be molded to attach to or rest on the upper portion of the joint 720 or the portion of the robot system 700 adjacent to the joint 720. Advantageously, by forming or otherwise configuring the brake release device 740 to fit around a portion of the robot system 700, the operator does not need to hold the brake release device 740 in place during operation. In some embodiments, the brake release device 740 may have a substantially "U" shape or a saddle shape.

[0155] As described herein, the brake release device 740 can be releasably coupled or mounted to the robot system 700. For example, the brake release device 740 can be releasably coupled adjacent to a joint 720. As illustrated, the brake release device 740 may include a magnet or other feature configured to engage with a mating interface of the robot system 700 or joint 720, thereby enabling the brake release device 740 to be releasably mounted therein.

[0156] Figure 42 is a perspective view of the mounting plate 760 of the arm of Figure 38 according to several embodiments. Referring to Figures 38 to 42, the robot system 700 may include an interface, mounting point, or mounting plate 760 for receiving, releasably coupling, or otherwise facilitating the mounting of a brake release device 740 to the robot system 700. As described herein, the mounting plate 760 may facilitate the physical mounting of the brake release device 740 to the robot system 700, and may also facilitate the electrical connection, mounting, or interface between the brake release device 740 and the robot system 700 (or a particular joint 720). As illustrated, the mounting plate 760 may be disposed on a link or joint 720 of the robot arm, or on a portion of the robot system 700 adjacent to the link or joint 720, including but not limited to these. In the depicted example, the mounting plate 760 may be positioned to allow the brake release device 740 to be positioned around a portion of the robot system 700.

[0157] In some embodiments, the mounting plate 760 includes one or more magnetic features for engaging with a portion of the brake release device 740 to releasably couple the brake release device 740 to the robot system 700. In some embodiments, the mounting plate 760 includes multiple magnetic features for aligning and releasably coupling the brake release device 740 to the mounting plate 760. In some applications, the magnetic features may be fasteners or other components of the mounting plate 760 that may also serve other purposes. As described herein, the brake release device 740 may include corresponding magnets for engaging with the magnetic features of the mounting plate 760. Optionally, the mounting plate 760 may include magnets for engaging with the brake release device 740. In some embodiments, the mounting plate 760 may include one or more stoppers, bumps, or other engaging features to provide additional engagement with the brake release device 740. The brake release device 740 may include corresponding features for engaging with the engaging features of the mounting plate 760.

[0158] As illustrated, the mounting plate 760 may further include an electrical contact 762 to facilitate electrical connection between the brake release device 740 and the robot system 700. As illustrated, the electrical contact 762 may engage with the electrical connection of the brake release device 740. In the illustrated example, the brake release device 740 includes a pogo pin 752 configured to engage with the electrical contact 762 to allow electrical signals to be transmitted between the brake release device 740 and the robot system 700. The pogo pin 752 may be spring-loaded or otherwise biased to ensure electrical connection between the pogo pin 752 and the electrical contact 762. In some applications, the electrical contact 762 of the mounting plate 760 may be aligned or otherwise configured to allow electrical connection between the brake release device 740 and the robot system 700 when the brake release device 740 is mechanically engaged or held by the mounting plate 760. In some applications, the brake release device 740 and the mounting plate 760 may utilize wireless electrical connections such as inductive electrical connections.

[0159] Figure 43 is a perspective view of the mounting plate 760 of the arm of Figure 38 according to several embodiments. In some embodiments, the mounting plate 760 includes or defines one or more slots for engaging with a portion of the brake release device 740 to releasably couple the brake release device 740 to the robot system 700. During operation, the slots of the mounting plate 760 can receive a portion or recess of the brake release device 740, thereby releasably engaging the brake release device 740 with the mounting plate 760.

[0160] In some applications, the brake release device 740 may be stored attached to the mounting plate 760, or it may be detached from the mounting plate 760 and stored separately. In some embodiments, the brake release device 740 may be stored in a storage location away from the mounting plate 760. Optionally, the brake release device 740 may include one or more hinge portions to allow the brake release device 740 to lie flat during storage. Before operation, the brake release device 740 may be restored to a "U" shape or saddle shape. In some embodiments, the brake release device includes one or more protrusions or retainers to allow the brake release device 740 to "snap" into an operating configuration.

[0161] In some applications, the functions and / or components of a brake release device, including at least the features schematically depicted in Figures 22–25 (and described in the accompanying description), may be included in a handheld component of a robotic surgical system. For example, the features and components of a brake release device may be included in a table remote control or tower pendant of a robotic system.

[0162] 3. Implementation System and Terminology The embodiments disclosed herein can, advantageously, provide systems, methods, and apparatus for providing an additional level of safety to a robot interacting with humans by enabling the joints to be fully unlocked and repositioned even under complete electrical or software failure of the robot.

[0163] It should be noted that, as used herein, the terms “couple,” “coupling,” “coupled,” or other variations of the word “couple” may indicate either indirect or direct connection. For example, when a first component is “coupled” to a second component, the first component may be indirectly connected to the second component through another component, or it may be directly connected to the second component.

[0164] The methods disclosed herein include one or more steps or actions for achieving the described method. The method steps and / or actions may be substituted for one another, as long as they do not deviate from the scope of the claims. In other words, the order and / or use of specific steps and / or actions may be modified without deviation from the scope of the claims, unless a specific sequence of steps or actions is required for the proper operation of the described method.

[0165] As used herein, the term “multiple” refers to two or more. For example, “multiple components” refers to two or more components. The term “determine” encompasses a wide variety of actions, and therefore “determine” may include calculating, computing, processing, deriving, investigating, looking up (e.g., referring to a table, database or another data structure), verifying, etc. “Determine” may also include receiving (e.g., receiving information), accessing (e.g., accessing data in memory), etc. “Determine” may also include resolving, selecting, electing, establishing, etc.

[0166] The phrase "based on" does not mean "based solely on" unless explicitly specified otherwise. In other words, the phrase "based on" describes both "based solely on" and "based at least on."

[0167] The foregoing description of the disclosed implementations is provided to enable any person skilled in the art to construct or use the present invention. Various modifications to these implementations will be readily apparent to a person skilled in the art, and the general principles set forth herein may be applied to other implementations without departing from the scope of the present invention. For example, a person skilled in the art will understand that many corresponding alternative and equivalent structural details can be employed, such as similar methods for fastening, mounting, joining, or engaging tool components, equivalent mechanisms for producing specific operating motions, and equivalent mechanisms for delivering electrical energy. Accordingly, the present invention is not intended to be limited to the implementations shown herein, but rather the broadest scope is given that is consistent with the principles and novel features disclosed herein.

[0168] [Implementation Method] (1) A release device configured to disengage an electromagnetic brake of a medical robot system, wherein the release device is A main body configured to be detachably coupled to the aforementioned medical robot system, A power supply for providing electricity, supported by the aforementioned main body, A release device comprising an electrical interface electrically connected to the power supply and configured to provide an electrical connection between the power supply and the electromagnetic brake, wherein the electromagnetic brake is selectively energized by the power supply, which is independent of the control system of the medical robot system, in order to disengage the electromagnetic brake and enable joint movement of the robot joint. (2) The release device according to Embodiment 1, wherein the power supply comprises a battery carried by the main body. (3) The release device according to Embodiment 2, further comprising a charging circuit electrically connected to the power supply and the electrical interface, wherein the charging circuit is configured to selectively charge the battery via the medical robot system. (4) The release device according to Embodiment 1, wherein the power supply comprises a capacitor. (5) The release device according to Embodiment 1, further comprising a thermal protection circuit electrically connected to the power supply, wherein the thermal protection circuit is configured to reduce the power output of the release device in response to the device temperature exceeding a temperature threshold.

[0169] (6) The release device according to Embodiment 5, wherein the thermal protection circuit comprises a thermistor or thermocouple for detecting the device temperature. (7) The release device according to Embodiment 5, wherein the thermal protection circuit comprises a thermal fuse for disabling the power supply in response to the device temperature exceeding the temperature threshold. (8) The release device according to Embodiment 1, further comprising a timing circuit electrically connected to the power supply, wherein the timing circuit is configured to reduce the power output of the release device in response to the device operating period exceeding an operating period threshold. (9) The release device according to Embodiment 1, wherein the electrical interface comprises an induction loop. (10) The release device according to Embodiment 1, further comprising a switch electrically connected to the power supply and the electrical interface, wherein the switch selectively enables an electrical connection between the power supply and the electromagnetic brake.

[0170] (11) The release device according to Embodiment 1, wherein the release device is configured to communicate with the control system of the medical robot system. (12) A method for operating a medical robot system, wherein the method is The control system of the aforementioned medical robot system energizes the coils of the electromagnetic brakes of the robot joints via a power source independent of the system's control system. In response to energizing the coil of the electromagnetic brake, the electromagnetic brake is disengaged from the robot joint, A method comprising enabling joint movement of the robot joint in response to disengaging the electromagnetic brake from the robot joint. (13) The method according to embodiment 12, further comprising attaching a housing containing a power source to the medical robot system. (14) The method according to embodiment 12, further comprising activating a switch to selectively energize the coil. (15) The method according to embodiment 14, wherein the power source is supported by the housing of the robot joint.

[0171] (16) A medical robotic system, Robot joints, An electromagnetic brake assembly, wherein the electromagnetic brake assembly is A braking member that can be engaged between an engagement configuration and an engagement / disengagement configuration, wherein in the engagement configuration, the braking member restricts the joint movement of the robot joint, and in the disengagement configuration, the braking member enables the joint movement of the robot joint. The electromagnetic brake assembly comprises a coil coupled to the braking member, wherein the electromagnetic brake assembly is configured such that when the coil is energized, it disengages the braking member from the engagement configuration to the disengage configuration. A release device is provided, and the release device is Power sources for providing electricity, A medical robot system comprising: an interface electrically connected to the power supply and configured to provide an electrical connection between the power supply and the coil, wherein the coil is selectively energized by the power supply, which is independent of the control system of the medical robot system. (17) The medical robot system according to Embodiment 16, wherein the release device comprises a main body that carries the power supply and the interface, and the main body is configured to be detachably coupled to the robot joint. (18) The medical robot system according to embodiment 17, wherein the robot joint comprises a mounting plate configured to receive the body of the release device. (19) The medical robot system according to embodiment 16, wherein the power supply and interface of the release device are housed within the housing of the robot joint. (20) Second electromagnetic brake assembly, The system further comprises a second release device, wherein the second release device is A second power source to provide electricity, The medical robot system according to embodiment 16, further comprising: a second interface electrically connected to the power supply and configured to provide an electrical connection between the power supply and the second electromagnetic brake assembly, wherein the second electromagnetic brake assembly is selectively energized by the second power supply, which is independent of the control system of the medical robot system.

Claims

1. A release device configured to disengage an electromagnetic brake of a medical robot system, wherein the release device is A main body configured to be detachably coupled to the aforementioned medical robot system, A power supply for providing electricity, supported by the aforementioned main body, A release device comprising an electrical interface electrically connected to the power supply and configured to provide an electrical connection between the power supply and the electromagnetic brake, wherein the electromagnetic brake is selectively energized by the power supply, which is independent of the control system of the medical robot system, in order to disengage the electromagnetic brake and enable joint movement of the robot joint.

2. The release device according to claim 1, wherein the power supply comprises a battery carried by the main body.

3. The release device according to claim 2, further comprising a charging circuit electrically connected to the power supply and the electrical interface, wherein the charging circuit is configured to selectively charge the battery via the medical robot system.

4. The release device according to claim 1, wherein the power supply comprises a capacitor.

5. The release device according to claim 1, further comprising a thermal protection circuit electrically connected to the power supply, wherein the thermal protection circuit is configured to reduce the power output of the release device in response to the device temperature exceeding a temperature threshold.

6. The release device according to claim 5, wherein the thermal protection circuit comprises a thermistor or thermocouple for detecting the device temperature.

7. The release device according to claim 5, wherein the thermal protection circuit comprises a thermal fuse for disabling the power supply in response to the device temperature exceeding the temperature threshold.

8. The release device according to claim 1, further comprising a timing circuit electrically connected to the power supply, wherein the timing circuit is configured to reduce the power output of the release device in response to the device operating period exceeding an operating period threshold.

9. The release device according to claim 1, wherein the electrical interface comprises an induction loop.

10. The release device according to claim 1, further comprising a switch electrically connected to the power supply and the electrical interface, wherein the switch selectively enables an electrical connection between the power supply and the electromagnetic brake.

11. The release device according to claim 1, wherein the release device is configured to communicate with the control system of the medical robot system.

12. A method for operating a medical robot system, wherein the method is The control system of the aforementioned medical robot system energizes the coils of the electromagnetic brakes of the robot joints via a power source independent of the system's control system. In response to energizing the coil of the electromagnetic brake, the electromagnetic brake is disengaged from the robot joint, A method comprising enabling joint movement of the robot joint in response to disengaging the electromagnetic brake from the robot joint.

13. The method according to claim 12, further comprising attaching a housing containing a power source to the medical robot system.

14. The method according to claim 12, further comprising activating a switch to selectively energize the coil.

15. The method according to claim 14, wherein the power source is supported by the housing of the robot joint.

16. A medical robotic system, Robot joints, An electromagnetic brake assembly, wherein the electromagnetic brake assembly is A braking member that can be engaged between an engagement configuration and an engagement / disengagement configuration, wherein in the engagement configuration, the braking member restricts the joint movement of the robot joint, and in the disengagement configuration, the braking member enables the joint movement of the robot joint. The electromagnetic brake assembly comprises a coil coupled to the braking member, wherein the electromagnetic brake assembly is configured such that when the coil is energized, it disengages the braking member from the engagement configuration to the disengage configuration. A release device is provided, and the release device is Power sources for providing electricity, A medical robot system comprising: an interface electrically connected to the power supply and configured to provide an electrical connection between the power supply and the coil, wherein the coil is selectively energized by the power supply, which is independent of the control system of the medical robot system.

17. The medical robot system according to claim 16, wherein the release device comprises a main body that carries the power supply and the interface, and the main body is configured to be detachably coupled to the robot joint.

18. The medical robot system according to claim 17, wherein the robot joint comprises a mounting plate configured to receive the main body of the release device.

19. The medical robot system according to claim 16, wherein the power supply and interface of the release device are housed within the housing of the robot joint.

20. The second electromagnetic brake assembly, The system further comprises a second release device, wherein the second release device is A second power source to provide electricity, The medical robot system according to claim 16, further comprising: a second interface electrically connected to the power supply and configured to provide an electrical connection between the power supply and the second electromagnetic brake assembly, wherein the second electromagnetic brake assembly is selectively energized by the second power supply, which is independent of the control system of the medical robot system.

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