Apparatus and method for robot assembly

Abstract

To provide methods, devices and systems for performing robotic procedures.SOLUTION: Devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently of an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into the body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Cross - reference to Related Applications This application claims the benefit of U.S. Provisional Patent Application No. 62 / 865,658, filed Jun. 24, 2019; U.S. Provisional Patent Application No. 62 / 877,141, filed Jul. 22, 2019; U.S. Provisional Patent Application No. 62 / 882,921, filed Aug. 5, 2019; and U.S. Provisional Patent Application No. 62 / 912,910, filed Oct. 9, 2019, the entire disclosures of which are hereby incorporated by reference herein.

[0002] Incorporation by Reference All publications, patents, and patent applications mentioned in this specification are hereby incorporated by reference herein to the same extent as if each individual publication, patent, or patent application were specifically and individually incorporated by reference.

Summary of the Invention

[0003] This specification describes a robotic arm comprising a plurality of joints sequentially connected from the origin to the end effector of the robotic arm, such that the robotic arm comprises (i) a first division of the robotic arm including the origin, (ii) a second division of the robotic arm including a robotic elbow joint, and (iii) a third division of the robotic arm including an end effector, wherein the joints located in the first division and the joints located in the third division allow movement of at least a portion of the second division independently of movement of the origin or the end effector of the robotic arm. In some embodiments, the robotic elbow joint includes a hinge joint. In some embodiments, the plurality of joints include hinge joints, rotary joints, or a combination thereof. In some embodiments, the joints located in the first division include a hinge joint. In some embodiments, the joints located in the third division include a hinge joint. In some embodiments, the movement of at least a portion of the second section is possible independently of the movement of the origin and the end effector, by joints located within a first section and joints located within a third section. In some embodiments, the end effector includes a surgical instrument. In some embodiments, the multiple joints include at least three hinge joints. In some embodiments, the multiple joints include at least three rotational joints. In some embodiments, the movement of the joints is performed by a motor unit. In some embodiments, the displacement of the joints is measured by a magnetic sensing system. In some embodiments, the magnetic sensing system is located within a portion of the joint. In some embodiments, by positioning the multiple joints to form a robotic arm, a range of motion of a robotic arm having at least eight degrees of freedom is possible. In some embodiments, the size of the robotic arm is configured to be positioned within a body cavity. In some embodiments, the multiple joints include a section of joints positioned in an alternating pattern of hinge joints and rotational joints. In some embodiments, the end effector is directly connected to the hinge joints.In some embodiments, the hinge joint is configured to rotate around an axis perpendicular to the longitudinal axis of the robot arm. In some embodiments, the rotary joint is configured to move around the longitudinal axis of the robot arm. In some embodiments, the hinge joint is configured to move along a singular plane. In some embodiments, the robot arm includes a surgical robot assembly including a support tube, the support tube being configured to connect to the robot arm and to deliver the robot arm through the trocar such that at least a portion of the robot arm deflects outward when the portion of the robot arm exits the trocar.

[0004] This specification describes a method comprising the steps of: inserting a plurality of work ends of a robot assembly through a trocar, wherein a support tube operably connects a corresponding work end of the plurality to a portion of the robot assembly located outside the trocar; and inserting at least a portion of the support tube into the trocar, wherein as the corresponding work end exits the trocar, at least a portion of the support tube moves radially outward toward a portion of the inner wall of the trocar. In some embodiments, a transition element is connected to the corresponding work end. In some embodiments, the proximal end of the transition element guides the corresponding work end radially outward as it exits the trocar. In some embodiments, the rigidity of the support tube drives the support tube radially outward. In some embodiments, the support tube is connected to an elastic element, which drives the support tube radially outward. In some embodiments, the elastic element includes a spring. In some embodiments, the plurality of work ends include at least two of the work ends of a camera, a first robot arm, and a second robot arm. In some embodiments, the work ends include a camera work end, a first robot arm work end, and a second robot arm work end. In some embodiments, at least a portion of the proximal end of the transition element includes a side that bends along at least a portion of its length. In some embodiments, at least a portion of the distal end of the transition element includes a tapered end. In some embodiments, the process of inserting the work ends is performed sequentially. In some embodiments, the order of the process of inserting the work ends is at least partially based on the relative cross-sectional area of ​​each of the work ends. In some embodiments, the insertion process includes inserting each of the work ends individually into the trocar. In some embodiments, the insertion process is performed by one or more motor units connected to the robot assembly. In some embodiments, one or more motor units include a motor, a drive train, electronic components, or any combination thereof.In some embodiments, one or more motor units include a mounting member configured to move the motor unit in parallel so as to be substantially parallel to the axis of insertion of the plurality of work ends. In some embodiments, each work end of the plurality of work ends is connected to a corresponding motor unit. In some embodiments, the support tube includes a mechanical power element, an electrical power element, or a combination thereof. In some embodiments, once one or more work ends are inserted into the body cavity via the trocar, the trocar maintains the blowing of the body cavity. In some embodiments, the method further includes the step of positioning the work end of a camera between the work end of a first robot arm and the work end of a second robot arm. In some embodiments, the work end of the camera is positioned substantially equidistant from the work end of the first robot arm and the work end of the second robot arm. In some embodiments, the positioning step is performed by one or more motor units. In some embodiments, the camera includes a stereo camera. In some embodiments, a portion of the robot assembly is connected to the trocar. In some embodiments, the method further includes the step of removing the plurality of work ends by reinserting them into the trocar. In some embodiments, the transition element guides the working end radially inward when it is placed back into the trocar. In some embodiments, the method further includes the step of individually adjusting the relative depth of one of a plurality of working ends.

[0005] This specification describes a robot joint including a magnetic sensing system, wherein the magnetic sensing system includes (a) an array of magnets forming a magnetic field, and (b) an array of sensors configured to measure changes in at least a portion of the magnetic field, the changes corresponding to the displacement of the robot joint. In some embodiments, the array of magnets includes two or more magnets that substantially form a magnetic column. In some embodiments, the two or more magnets are positioned in an NS,NS or SN,SN dipole array. In some embodiments, the array of magnets includes a first magnetic column and a second magnetic column. In some embodiments, the magnetization direction of the magnets in the first magnetic column has a dipole array opposite to that of the magnets in the second magnetic column. In some embodiments, the magnetization direction of the magnets in the first magnetic column has the same dipole array as that of the magnets in the second magnetic column. In some embodiments, the array of sensors is located on or near a plane substantially perpendicular to the array of magnets. In some embodiments, a substantially perpendicular plane is located between the first and second magnets, and the first and second magnets form a magnetic column. In some embodiments, the arrangement of magnets and the arrangement of sensors are located substantially proximal to the periphery of the robot joint. In some embodiments, the magnetic sensing system measures the displacement of the robot joint with higher resolution compared to an equivalent robot joint without the arrangement of magnets and the arrangement of sensors. In some embodiments, the arrangement of magnets includes a set of magnets located in separate quadrants in space of the magnetic sensing system. In some embodiments, the first magnet of the set includes a magnetization direction matched with the second magnet located in a diagonally opposite quadrant. In some embodiments, the first magnet of the column is located in the first quadrant, and the second magnet of the column is located in the second quadrant. In some embodiments, the magnetic field includes orthogonal magnetic field components, parallel magnetic field components, non-parallel magnetic field components, or any combination thereof. In some embodiments, one of the multiple magnets includes neodymium, iron, or any combination thereof. In some embodiments, one of the multiple magnets includes an electromagnet. In some embodiments, the robot arm includes a cable-driven robot arm.In some embodiments, the magnet array includes at least four magnets. In some embodiments, the sensor array includes a sensor array. In some embodiments, the sensor array includes at least two sensors. In some embodiments, the robot arm includes robot joints. In some embodiments, each of the multiple robot joints includes a robot joint.

[0006] This specification describes a robotic arm including a joint, the joint including a portion of an electrical components, the portion being associated with a first portion and a second portion of the joint, and the portion being (a) wrapped around an axis of the joint, with some of the wrappings of the portion varying in proportion to the movement of the joint, or (b) extending to form a movable flex, the movable flex moving relative to the first portion and the second portion during the operation of the joint. In some embodiments, the portion extending to form a movable flex, the movable flex located within and moving within a channel of the joint housing. In some embodiments, the channel is located outside the central axis of the joint. In some embodiments, a minimum amount of movable flex is located within the channel in a first range of motion of the joint, and a maximum amount of movable flex is located within the channel in a second range of motion of the joint. In some embodiments, the robotic arm includes a pin. In some embodiments, a portion of the joint is configured to operate as a cam, and the pin is configured to operate as a cam follower. In some embodiments, the robotic arm includes an elastic element connected to an electrical component. In some embodiments, the elastic element includes a spring or elastic band. In some embodiments, the elastic element includes a spring that is a constant-force spring. In some embodiments, the portion is wound around the axis of the joint, and the joint includes a rotational joint. In some embodiments, the portion extends to form a movable flex, and the joint includes a hinge joint. In some embodiments, the association with a first position of the joint, a second position of the joint, or a combination thereof is fixed. In some embodiments, the portion is wound around the axis of the joint to form at least partially a helical coil. In some embodiments, the portion is wound around the axis of the joint, and some of the windings are located between the joint housing and the shaft. In some embodiments, in the first range of motion of the joint, the number of windings is maximized, and the portion is wound around the shaft, and in the second range of motion of the joint, the number of windings is minimized, and the portion is extended against the housing.In some embodiments, the telecommunications component operably connects the end effector of the robot arm to the control system. In some embodiments, the telecommunications component is configured to transmit one or more electrical signals to or from a portion of the robot arm. In some embodiments, the portion is configured to move with respect to joint movement. In some embodiments, the portion is configured to substantially maintain a bending radius during joint movement. In some embodiments, the robot arm includes a stop element to limit the range of motion of the robot arm. In some embodiments, the robot arm includes a coating or film covering at least a portion of the telecommunications component. In some embodiments, the coating or film includes a lubricant.

[0007] This patent application includes at least one color drawing. A copy of this patent or this patent application with the color drawing attached will be provided by the Japan Patent Office upon application and payment of the required fees. [Brief explanation of the drawing]

[0008] [Figure 1] A robotic arm including multiple joints is illustrated according to several embodiments. [Figure 2] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 3] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 4] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 5] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 6] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 7] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 8] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 9] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 10A] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 10B] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 10C] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 10D] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 10E] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 10F] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 10G] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 10H] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 10I] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 10J] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 10K] A surgical robot segmented arm architecture is illustrated according to several embodiments. [Figure 11] The insertion of the camera motor unit via a trocar is illustrated according to several embodiments. [Figure 12] The insertion of the camera motor unit via a trocar is illustrated according to several embodiments. [Figure 13]According to some embodiments, the insertion of the camera motor unit through the trocar is illustrated. [Figure 14] According to some embodiments, the insertion of the camera motor unit through the trocar is illustrated. [Figure 15] According to some embodiments, the insertion of the camera motor unit through the trocar is illustrated. [Figure 16] According to some embodiments, the first arm motor unit, the second arm motor unit, and the camera motor unit inserted through the trocar are illustrated. [Figure 17] According to some embodiments, the first arm motor unit, the second arm motor unit, and the camera motor unit inserted through the trocar are illustrated. [Figure 18] According to some embodiments, the first arm motor unit, the second arm motor unit, and the camera motor unit inserted through the trocar are illustrated. [Figure 19] According to some embodiments, the first arm motor unit, the second arm motor unit, and the camera motor unit inserted through the trocar are illustrated. [Figure 20] According to some embodiments, the first arm motor unit, the second arm motor unit, and the camera motor unit inserted through the trocar are illustrated. [Figure 21] According to some embodiments, the first arm motor unit, the second arm motor unit, and the camera motor unit inserted through the trocar are illustrated. [Figure 22] According to some embodiments, the first arm motor unit, the second arm motor unit, and the camera motor unit inserted through the trocar are illustrated. [Figure 23] According to some embodiments, the first arm motor unit, the second arm motor unit, and the camera motor unit after being inserted through the trocar are illustrated. [Figure 24] The first arm motor unit, the second arm motor unit, and the camera motor unit after being inserted via a trocar are illustrated according to several embodiments. [Figure 25] The first arm motor unit, the second arm motor unit, and the camera motor unit after being inserted via a trocar are illustrated according to several embodiments. [Figure 26] A system including a sensor array and a rotating magnet is illustrated according to several embodiments. [Figure 27] A system including a sensor array and a rotating magnet is illustrated according to several embodiments. [Figure 28] A robotic joint assembly is illustrated according to several embodiments. [Figure 29] Magnet arrangements are illustrated according to several embodiments. [Figure 30] The simulation of the magnetic field generated by the arrangement of magnets is illustrated according to several embodiments. [Figure 31] The perpendicular component of the magnetic field generated by the arrangement of magnets is illustrated according to several embodiments. [Figure 32] The diagram illustrates a plurality of magnets and a sensor array for sensing the magnetic field generated by the plurality of magnets, according to several embodiments. [Figure 33] A sensing system implemented in a joint is illustrated according to several embodiments. [Figure 34] According to several embodiments, a rotary joint is illustrated in which a flexible printed circuit board is wrapped around the axis of the joint. [Figure 35] According to several embodiments, a rotary joint is illustrated in which a flexible printed circuit board is wrapped around the axis of the joint. [Figure 36] According to several embodiments, the telecommunications components and retraction mechanism arranged around the joint are illustrated. [Figure 37]According to several embodiments, the telecommunications components and retraction mechanism arranged around the joint are illustrated. [Figure 38] A hinge joint and an electrical communication component transmitted through the joint are illustrated according to several embodiments. [Figure 39] A hinge joint and an electrical communication component transmitted through the joint are illustrated according to several embodiments. [Figure 40] The diagram illustrates a robotic assembly positioned relative to a patient undergoing surgical treatment and a medical professional performing the surgical procedure with the assistance of the robotic assembly. [Figure 41] The diagram illustrates a robotic assembly positioned relative to a patient undergoing surgical treatment and a medical professional performing the surgical procedure with the assistance of the robotic assembly. [Figure 42] The diagram illustrates a robotic assembly positioned relative to a patient undergoing surgical treatment and a medical professional performing the surgical procedure with the assistance of the robotic assembly. [Figure 43] This diagram illustrates the entry of a robotic arm into a patient via a trocar. [Figure 44] Various dimensions of the robot assembly are illustrated. [Figure 45] The insertion pitch angle and the clearance between the motor unit and the patient are illustrated when a portion of the robot assembly is inserted into the patient via a trocar. [Figure 46] The cross-section and diameter of the trocar, or its associated components, are illustrated. [Figure 47] A cross-section of a support tube and an example of electrical and mechanical components housed within it is shown. [Figure 48] A cross-section of the support tube is illustrated, demonstrating examples of curvature on each side of the exemplary support tube. [Figure 49] This diagram illustrates the use of a software program (Solidworks®) for calculating various parameters such as the second moment of area. [Figure 50]An example of mounting between the support tube and the corresponding robot arm is illustrated. [Figure 51] An example of mounting between the support tube and the corresponding motor unit is illustrated. [Modes for carrying out the invention]

[0009] Novel features of this disclosure are described in detail in the appended claims. A better understanding of the features and advantages of this disclosure can be obtained by referring to the following detailed description which includes exemplary embodiments.

[0010] While preferred embodiments of the Disclosure are shown and described herein, it will be apparent to those skilled in the art that such embodiments are presented only as examples. Those skilled in the art will be able to conceive of numerous variations, alterations, and substitutions without departing from the Disclosure. It should be understood that various alternatives to the embodiments of the Disclosure described herein may be used in carrying out the Disclosure. The following claims define the scope of the Disclosure, and it is intended that methods and structures within the scope of these claims and their equivalents are encompassed thereby.

[0011] Absolute or sequential terms, such as "will," "will not," "shall," "shall not," "must," "must not," "firstly," "initially," "nextly," "followingly," "before," "after," "finally," and "ultimately," are not intended to limit the scope of the embodiments described herein, nor to limit the scope of the invention, but are meant to be illustrative.

[0012] As used herein, the singular forms "a," "an," and "the" are intended to include the plural unless otherwise explicitly indicated. Furthermore, the terms "including," "includes," "having," "has," "with," or their variations, are intended to be as comprehensive as the term "comprising," to the extent used in any of the detailed description and / or claims.

[0013] As used herein, the terms “at least one,” “one or more,” and “and / or” are both open-ended expressions that are conjunctive or disjunctive in their operation. For example, each of the expressions “at least one of A, B, and C,” “at least one of A, B, or C,” “one or more of A, B, and C,” “one or more of A, B, or C,” and “A, B, and / or C” means A only, B only, C only, A and B together, A and C together, B and C together, or A and B and C together.

[0014] Any systems, methods, software, and platforms described herein are modular and not limited to sequential processes. Furthermore, the terms “first” and “second” do not necessarily imply priority order, importance order, or operating order.

[0015] The terms “about” or “approximately” mean within an acceptable margin of error for a particular value, as determined by those skilled in the art, and this depends in part on how the value is measured or determined, such as the limits of the measuring system. For example, “about” may conventionally mean that a value is within 1 or a standard deviation greater than 1. Where a particular value is mentioned in this application and claims, unless otherwise stated, the term “about” should be assumed to mean within an acceptable margin of error for that particular value.

[0016] As shown in the series of images in Figures 40-42, surgical procedures can be performed on a patient (503) by a medical professional (502) (such as a surgeon) with the help of a robotic machine (500) having a robotic assembly (501). At least a portion of the robotic assembly (501) can be inserted into a portion of the patient (503). At least a portion of the robotic assembly (501) may remain outside the patient (503). The portion that can be inserted may include a camera and two robotic arms. The portion that may remain outside the patient (503) may include a motor unit, rails, a portion of support tubing, a control system, and the like. The patient (503) may be positioned on a surface (504), such as an operating table. The robotic assembly (501) may be movable. The robotic assembly (501) may be positioned above the patient's location. The surgical procedure may include inserting a portion of the robot assembly (501) into a portion of the patient (503), and may optionally include inserting it via one or more trocars. The surgical procedure may include therapeutic, diagnostic, preventive, theranostic, or a combination thereof.

[0017] A robot assembly may include one or more magnets, such as in a magnetic sensing system of the robot assembly. The magnetic sensing system may be located within a part of the robot assembly, such as a joint. One or more joints of the robot assembly may include a magnetic sensing system containing one or more magnets. The magnetic field of one or more magnets may change as a result of the displacement or movement of a part of the robot assembly, such as a joint. One or more corresponding sensors may be configured to measure the change in the magnetic field. The magnets in the magnetic sensing system may be ring magnets, circular magnets, bar magnets, U-shaped magnets, ball magnets, cylindrical magnets, or any combination thereof. The magnets or parts thereof may be ceramic magnets. The magnets or parts thereof may include neodymium, boron, iron, or any combination thereof. The magnets or parts thereof may include neodymium, ferrite, rubber, iron, natural magnets, magnetite, or any combination thereof. The magnets or parts thereof may include NdFeB. The magnets or parts thereof may have a magnetic force of about N33 to N52. The magnets may have a magnetic force of about N35. The magnet may have a magnetic force of approximately N42. The magnet or a part thereof may have a magnetic force of approximately Y10 to Y30BH. The magnet or a part thereof may be an isotropic magnet. The magnet or a part thereof may be an anisotropic magnet. The magnet or a part thereof may be a rubber magnet. The magnet or a part thereof may contain ferrite, AlNiCo (AN), SmCo (SC), NdFeB (ND), or any combination thereof. The magnet or a part thereof may contain an electromagnet.

[0018] A robot assembly may include one or more sensors. A magnetic sensing system of a robot assembly may include one or more sensors. Sensors may be located within a part of the robot assembly, such as a joint. One or more joints of a robot assembly may include a magnetic sensing system that includes one or more sensors. Sensors may be configured to measure changes in a portion of the magnetic field of one or more magnets corresponding to the displacement or movement of a part of the robot assembly, such as a joint. Sensors may be configured to measure changes in a portion of the magnetic field. Sensors may include search coil magnetometers, fluxgate magnetometers, optical pumping magnetometers, nuclear-procession magnetometers, SQUID magnetometers, Hall effect sensors, magnetoresistive magnetometers, magnetic diodes, magnetic transistors, optical fiber magnetometers, magneto-optical sensors, or any combination thereof.

[0019] A robot assembly may include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 20, 25, 30, 35, 40, 45, 50, 75, 100, 150, 200, or more sensors. The joints of a robot assembly may include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more sensors. A joint may include approximately 1 to approximately 10 sensors. A joint may include approximately 1 to approximately 8 sensors. A joint may include approximately 1 to approximately 6 sensors. A joint may include approximately 2 to approximately 8 sensors. A joint or other component of a robot assembly may include an even or odd number of sensors. A joint may include 2, 4, 6, 8, 10, or more sensors. A joint may include 1, 3, 5, 7, 9, or more sensors. One or more sensors may form a sensor array. An array may include an array that positions sensors substantially around a component of a robot assembly, such as a joint. An array may include one or more sensors along the same axis or in a certain plane. One or more sensors may form a sensor array. A sensor array may include 2x2 sensors, 3x3 sensors, 4x4 sensors, 2x3 sensors, 2x4 sensors, 3x4 sensors, or other combinations.

[0020] A robot assembly may include multiple joints. At least two of the multiple joints may be of the same type. At least two of the multiple joints may be of different types. The robot arm of a robot assembly may include multiple joints. The joints may be configured for translational motion, rotational motion, or any combination thereof. A robot assembly may include joints configured for translational motion, joints configured for rotational motion, or a combination thereof. The joints may be linear joints, orthogonal joints, rotational joints, torsional joints, or swivel joints. A robot assembly may include linear joints, orthogonal joints, rotational joints, torsional joints, swivel joints, or any combination thereof. The joints may include hinge joints or rotational joints. A robot assembly may include hinge joints, rotational joints, or a combination thereof.

[0021] A robot assembly may include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, or more joints. A robot assembly may include at least about 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, or more joints. A robot arm may include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, or more joints. A robot arm may include at least about 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, or more joints. A robot assembly may include one or more hinge joints. A robot assembly may include one or more rotary joints. The robot arm of a robot assembly may include one or more hinge joints, one or more rotary joints, or a combination thereof. A robot arm may include about 1 to 10 hinge joints, about 1 to 10 rotary joints, or a combination thereof. The robotic arm may include approximately 2 to 15 hinge joints, 2 to 15 rotary joints, or a combination thereof. Part of the robotic arm may include an alternating pattern of hinge joints and rotary joints. Part of the robotic arm may include a repeating pattern of hinge joints or a repeating pattern of rotary joints. The joint pattern may be configured so that the robotic arm moves with at least 7 degrees of freedom, at least 8 degrees of freedom, or more.

[0022] A robot assembly may include a robotic arm. A robot assembly may include one or more robotic arms. At least a portion of a robotic arm may be configured to enter a body cavity of a subject and perform a task. A robotic arm may include an end effector. An end effector may be connected to the distal end of a robotic arm. A robotic arm may include more than one end effector, such as two, three, or more end effectors. End effectors may be connected to and disconnected from a robotic arm. The end effector of a first robotic arm may be of a different type than the end effector of a second robotic arm of the robot assembly. The end effector of a first robotic arm may be of the same type as the end effector of a second robotic arm of the robot assembly. End effectors may include forceps, needles, scalpels, clamps, scissors, hooks, retractors, clamps, suction tools, staplers, cystoscopes, saws (such as osteotomy saws), arthroscopes, energy tools (such as electrosurgical tools, ultrasonic tools, or endostaplers), or any combination thereof.

[0023] A robot assembly may include one or more work ends. A robot assembly may include 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more work ends. A robot assembly may include at least about 2, 3, 4, 5, 6, 7, 8, 9, 10, or more work ends. A work end may be a part of a robot assembly that enters a body cavity. A work end may include a camera, a robot arm including an end effector, or other robot components. A work end can enter a body cavity by being inserted via a trocar. In some cases, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more work ends may be inserted via a trocar. In some cases, at least about 2, 3, 4, 5, 6, 7, 8, 9, 10 work ends may be inserted via a trocar. In some cases, a subset of work ends may be inserted into a body cavity by passing through a first trocar, and a second subset of work ends may be inserted into a body cavity by passing through a second trocar. In some cases, the robot assembly includes three work ends that pass through a single trocar.

[0024] The robot assembly may include elastic elements. The elastic elements may be configured to be operably connected to, or embedded within, the working ends of the robot assembly (such as the working end of a robot arm or camera), transition elements, support tubes, motor units, or any combination thereof. The working ends of the robot assembly may be operably connected to their corresponding elastic elements. Each working end of the robot assembly may be operably connected to its corresponding elastic element. The elastic elements may cause an outward bias of the working end inserted into the trocar, thereby driving the connecting support tube radially outward toward a position adjacent to the inner wall of the trocar. The elastic elements may include springs, or elastic bands or rubber bands. The springs may include compression springs, tension springs, torsion springs, constant force springs, or any combination thereof. The springs may include leaf springs, spiral springs, helical springs, disc springs, tubular springs, membranes, aneroid boxes, bellows, or any combination thereof.

[0025] A robot assembly or part thereof as described herein may include one or more coatings. For example, the electrical components of a robot arm of a robot assembly may be covered with a coating. The coating may include a conformal coating. The coating or part thereof may be a polymer system such as an amorphous fluoropolymer. The coating or part thereof may include acrylic resin, silicone resin, urethane resin, epoxy resin, parylene, silicone, or any combination thereof. The coating or part thereof may include a nanocoating, a thin film coating, or a combination thereof.

[0026] Robot arm - range of motion Previous generations of surgical robot arms generally had seven degrees of freedom or less, including the end effector. In fact, many surgical robots operate with fewer than seven degrees of freedom. In most cases, seven degrees of freedom allow the user to both position and orient the robot / surgical instrument's end effector within a positional or orientation range in the workspace (7 degrees of freedom = x, y, z, yaw, pitch, roll, and opening / closing of the end effector). However, for each position and orientation of the end effector, there is usually only one acceptable position for each joint of the robot. For example, for a given position and orientation of the end effector, the robot's elbow usually only has one location.

[0027] In some surgical procedures, seven degrees of freedom are insufficient. The human arm has more degrees of freedom, allowing the surgeon to move the elbow while keeping the shoulder and hand stationary. Because the human arm has more than seven degrees of freedom, the elbow can be moved / rotated to various positions (e.g., up and down) while keeping the hand in the same place. In some surgical procedures, the choice of entry route is important. For example, this choice is important in open surgery, where the surgeon needs to keep the arm and elbow above the patient to prevent collision with the patient's abdominal contents. In some cases, even in non-robot-assisted surgery, the choice of entry route for surgical robots is important.

[0028] By incorporating eight degrees of freedom, the disclosed robotic arm can perform certain entry paths that are not available to robotic arms with only seven degrees of freedom (for example, reaching and working toward the ceiling of the abdomen (abdominal wall)). In some embodiments, the robot can reach the vicinity of tissue and enter any organ from the rear, similar to how a human can lift a coffee mug from behind without rotating it. This is not possible with existing technologies, including, for example, the Da Vinci robot from Intuitive Surgical. According to some embodiments, the disclosed robotic arm allows a surgeon to select a more ideal entry path and enter any tissue from virtually any angle.

[0029] A robot assembly, such as a surgical robot assembly, may include a robot arm. In some cases, the robot arm may include multiple joints. The multiple joints may be arranged sequentially from the origin of the robot arm to the end effector of the robot arm. The multiple joints may form one or more divisions, such as multiple sections. In some cases, the first section of the robot arm may include the origin, such as the shoulder of the robot arm. The second section of the robot arm may include the robot elbow joint. The third section of the robot arm may include the end effector (such as a surgical instrument). The robot arm may include joints located within the first section (such as a hinge joint) and joints located within the third section (such as a hinge joint), thereby providing movement of at least a portion of the second section independently of movement of the origin or end effector of the robot arm. In some cases, a combination of joints located within the first section and joints located within the third section allows movement of at least a portion of the second section independently of movement of the origin and end effector. The robotic elbow joint may be a hinge joint to mimic a human elbow. The robotic arm's multiple joints may include any combination of different types of joints, such as hinge joints, rotary joints, or combinations thereof. The robotic arm's multiple joints may include at least three hinge joints, at least three rotary joints, or combinations thereof. Multiple joints are positioned to form a robotic arm, which may include an array of joints or a pattern of joints. Part of the robotic arm may include a division of joints positioned in an alternating pattern of hinge joints and rotary joints. The end effector may be connected to a hinge joint. Positioning multiple joints may enable a range of motion of the robotic arm. The range of motion of the robotic arm may include at least seven degrees of freedom, at least eight degrees of freedom, or more. The range of motion of the robotic arm may be substantially similar to that of a human arm. The size of the robotic arm may be configured to be positioned within a body cavity via a trocar.

[0030] A hinge joint may be configured to rotate around an axis that is substantially perpendicular to the longitudinal axis of the robot arm. A hinge joint may be configured to move along a singular plane. A rotary joint may be configured to move parallel to a substantially longitudinal axis of the robot arm.

[0031] The movement of one or more joints of the robot arm may be performed by a motor unit. The joints of a group of joints may be operably connected to the corresponding motor unit. Each joint of a group of joints may be operably connected to the corresponding motor unit. The displacement of one or more of the group of joints may be measured by a magnetic sensing system. The robot arm may include a magnetic sensing system. The joints of a group of joints may include the corresponding motor unit. Each joint of a group of joints may include a magnetic sensing system. The magnetic sensing system may be located within a portion of the joints of the robot arm.

[0032] Figure 1 illustrates a surgical robot according to one embodiment of the present invention. The robot's arm has the same configuration as a human arm; that is, the robot can lower its elbow and operate above the ceiling of the abdomen while keeping the end effector in the same position and orientation. As shown in Figure 1, the robot's configuration (in order from the shoulder) is a first rotational joint (101), a first hinge joint (102), a second rotational joint (103), a second hinge joint (104), a third rotational joint (105), a third hinge joint (106), a fourth hinge joint (107), and an end effector (108). In some embodiments, hinge joints (102), (104), (106), and (107) are defined as having rotational motion on an axis perpendicular to the longitudinal axis of the arm. In some embodiments, the rotary joints (101), (103), and (105) are defined as having motion parallel to the longitudinal axis of the arm.

[0033] According to one embodiment, these eight degrees of freedom-based range of motion may be fully achieved in a human-like orientation within the abdominal cavity or body cavity. In some embodiments, the range of motion may be achieved outside the abdominal cavity with any degree of freedom. In some examples, movement based on four degrees of freedom may be achieved outside the incision site, similar to a robot like Da Vinci.

[0034] According to one embodiment, various suitable robotic actuators, or other surgical robotic technologies, including flexible robots, can be used in conjunction with the disclosed system. According to several embodiments, the surgical device system of Figure 1 incorporates special actuators disclosed in U.S. Patent No. 10,285,765B2, titled Virtual Reality Surgical Device, and / or U.S. Patent Application Publication No. 2019 / 0142531A1, titled Virtual Reality Wrist Assembly. Both references are attached to the appendices and are incorporated herein by reference in their entirety.

[0035] Referring again to Figure 1, the solid and dashed lines depict two exemplary configurations / positions of the robotic arm. In particular, the elbow (at the second hinge joint (104)) can be moved to various positions without moving / adjusting the arm's end effector or origin (e.g., the shoulder).

[0036] Insert multiple work ends via the trocar. Individual surgical robotic arm architectures, also referred to herein as segmented arm architectures, are systems designed to simplify and improve efficiency the insertion of surgical instruments via a trocar, the deployment of said surgical instruments to a surgically ready state, and subsequently the removal of said surgical instruments via the trocar. For example, a surgical instrument is inserted via a trocar to access the patient's abdominal cavity and perform operations within the patient's abdominal cavity. In some embodiments, various surgical instruments may be used, including, but not limited to, robotic surgical instruments, as well as other surgical instruments known in the art.

[0037] The cross-sectional area of ​​a trocar is spatially limited. Inserting multiple working ends of a robotic arm through this limited space can be difficult. Furthermore, the working ends are connected to support tubes that deliver electrical and mechanical components, thereby operably connecting the working ends to motor units or other larger components that remain outside the body cavity. Thus, at least a portion of each support tube remained within a portion of the trocar. The advantages of current designs allow multiple working ends to pass through the trocar and enter the body cavity by adding elements to each component being inserted, biasing the working ends radially outward, and biasing the corresponding support tubes against the inner wall of the trocar.

[0038] The methods described herein may include the step of inserting a working end of a robot assembly into a body cavity via a trocar. The methods may include the step of inserting multiple working ends of a robot assembly into a body cavity via a trocar. The cross-sectional area of ​​the lumen of the trocar may be limited to optimize the insertion of multiple working ends. Furthermore, one or more working ends may be operably connected to corresponding support tubes, which operably connect the working ends to a portion of the robot arm (such as a motor unit) that is not inserted via the trocar. At least a portion of the support tube (for example, operably connecting the working end to the motor unit) may remain inside the trocar. Therefore, it may be important to optimize the spatial distribution of the support tubes within the lumen of the trocar to accommodate multiple working ends and their corresponding support tubes.

[0039] The method described herein may include the step of inserting multiple work ends of a robot assembly through a trocar. For example, 1, 2, 3, 4, 5, 6, 7, 8, or more work ends may be inserted through a single trocar. At least a portion of the work ends may be inserted sequentially. The order of insertion may be determined based on comparing the cross-sectional area of ​​each of the multiple work ends. At least a portion of the work ends may be inserted simultaneously. A support tube may be operably connected to the corresponding work ends of the multiple work ends and to a portion of the robot assembly located outside the trocar, such as a motor unit or a control system. The method may include the step of inserting at least a portion of the support tube into the trocar. A portion of the support tube entering the trocar may be withdrawn by moving the work end to which it is connected. When the corresponding work end exits the trocar (e.g., into a body cavity of an object), the portion of the support tube entering the trocar may be withdrawn. When the corresponding work end exits the trocar, at least a portion of the support tube may move radially outward toward a portion of the inner wall of the trocar.

[0040] The transition element may be connected to the working end. The transition element may be connected to the distal end of the working end. For example, the working end may include a camera, and the transition element may be connected to the distal end opposite the end containing the camera. The working end may include a transition element. The transition element may operably connect the working end to the corresponding support tube. A portion of the transition element (such as a bent edge or tapered section) may guide the working end radially outward as it exits the trocar.

[0041] The working end may be operably connected to a corresponding support tube. The support tube can facilitate a connection between the working end and a portion of the robot assembly not inserted into the trocar, which may include, for example, a motor unit that drives the working end but does not need to be inserted into the trocar. Depending on the characteristics of the robot assembly (e.g., support tube, transition element, or combination thereof), a radially outward bias, radially outward force, or deflection may be provided so that the working end is pushed radially outward after passing through the trocar. This characteristic of the robot assembly can also move a portion of the support tube that remains in the trocar so that it is substantially adjacent to the inner wall of the trocar. The support tube may include a mechanical power element, an electrical power element, or a combination thereof.

[0042] The properties that provide radially outward force may include the stiffness of the support tube, transition element, or a combination thereof. The stiffness can be modified by adjusting the wall thickness of the support tube or transition element, the material composition of the support tube or transition element, the shape or length of the support tube or transition element, or any combination thereof. The properties may include incorporating hinges, such as hinges in the motor unit or support tube. The properties may also include incorporating elastic elements, such as springs, into the robot assembly. The properties that provide radially outward biasing may include the mounting between the support tube and the trocar (such as a reversible mounting).

[0043] Multiple work ends may be inserted into the trocar. For example, a camera work end (such as a stereo camera), a work end of a first robot arm, and a work end of a second robot arm may be inserted into the trocar. Insertion may be manual by the user. Insertion may be performed with the help of a motor unit. The relative depth of the work ends can be adjusted independently without further movement of the remaining work ends. The work ends may be operably coupled to their corresponding motor units. Each work end may be individually coupled to its corresponding motor unit. The motor units may operate independently of each other. A motor unit may include a motor, a drive train, electronic components, a control system, or any combination thereof. A motor unit may include a mounting member configured to move the motor unit in parallel so as to be substantially parallel to the axis of insertion of the multiple work ends.

[0044] A portion of the robot assembly may be connected to a trocar. In some cases, a portion of the support tube may be connected to a trocar. In some cases, the rails of the robot assembly may be connected to a trocar. The connections may be reversible.

[0045] One or more working ends may be removed from the body cavity by reinserting them into the trocar. The process of reinserting the working ends may be performed sequentially or simultaneously. First, the reinsertion process may include moving the support tube away from the inner wall of the trocar or overcoming radially outward biasing so that the working end can be reinserted into the trocar substantially through the center point of the trocar's cross-section. Transition elements (such as the shape of the transition elements) may guide the working end radially inward to reinsert it into the trocar.

[0046] In some embodiments, the system is supported by a structure having several degrees of freedom, which may be maneuvered on the patient to a position suitable for using the system. In some embodiments, the structure may be mounted directly on an operating table, or on the floor or ceiling. In some embodiments, mounting is achieved by various fastening means, which include, but are not limited to, clamps, screws, or combinations thereof. In some embodiments, the structure may be self-supporting. As illustrated in Figures 2 and 10A, the structure is referred to herein as a robot-assisted system (RSS).

[0047] In some embodiments, the system includes two compartments. The first compartment is permanently connected to the RSS and has multiple movable bodies, each referred to as a motor unit (MU). In some embodiments, as also shown in Figures 3 and 10B, the multiple movable bodies may include a camera MU (203), a first arm MU (204-1), and a second arm MU (204-2). The second compartment can be freely connected to and disconnected from the first compartment and is referred to as a robot assembly. In some embodiments, the system is made up of three robot assemblies: one camera robot assembly and two arm robot assemblies. In some embodiments, the system includes more than three robot assemblies. In some embodiments, the system includes fewer than three robot assemblies.

[0048] In some embodiments, a motor unit (MU) may need to house a motor, drive train, and electronic components, and control the working end of a robot assembly. The MU is electrically connected to a larger electrical system, thereby providing each MU with appropriate forces and communication channels to operate it. In some embodiments, the MU includes one or more mounting members, an MU electronic housing, and an MU engagement element.

[0049] The camera MU may include a centrally located element, such as the one shown in Figure 2. The camera MU may also include a wedge, such as the one shown in Figure 10A. The housing (205) may include a roll cage. The housing (205) may provide rotational motion, or a path or channel within the housing (205) may provide rotational motion.

[0050] The arm MU may include half-disks, such as those shown as (204-1) and (204-2) in Figure 3. The arm MU may include wedges, such as those shown as (204-1) and (204-2) in Figure 10B. Each work end of the robot assembly may be connected to an MU. The MU of the robot assembly may be subdivided within the housing (205) to form individual wedges such as (203), (204-1), and (204-2). Multiple work ends may be housed in multiple wedges, each having a size relatively smaller than the three wedges shown in Figure 10B. One or more MUs can move independently of each other, such as along rails as shown in Figure 10B. One or more MUs can move collectively with one or more MUs, such as in rotational motion as shown in Figures 10J and 10K.

[0051] The assembly may slide along the bar (201) as shown in Figures 6-7 to allow linear motion of the working end, such as in and out of the trocar. Alternatively, individual working ends, such as the working end of the camera (212), may be inserted into the trocar by linearly translating the camera MU and engaging element (211) without moving the housing (205) along the bar (201) and / or moving the working end of the arm.

[0052] Figure 2 illustrates a bar (201) connected to a mounting member (202). The mounting member (202) is connected to a camera MU electronic housing (205) for a camera MU (203). The mounting member (202) supports the camera MU (203), and the mounting member (202) allows the camera MU (203) to be translated relative to other MUs in the system so as to be parallel to the axis of insertion via the trocar (210). In some embodiments, the camera MU (203) is connected to a rail (213). The rail (213) may be positioned parallel to the bar (201). The rail may be configured to allow the movement of the camera MU (203) along its path. The rail (213) may be configured to extend substantially away from the trocar so as not to encroach on the space proximal to the trocar. Figure 3 illustrates that the first arm MU(204-1) and the second arm MU(204-2) can be individually connected to the first rail (214) and the second rail (215). The first rail (214) and the second rail (215) may be positioned parallel to the bar (201). The rails (214) and (215) may be configured to allow independent movement of the first and second arms. The rails (214) and (215) may be configured to extend substantially away from the trocar so that they do not substantially encroach on the space proximal to the trocar. The rails may be folding rails, such as telescopic rails. The motor units (203), (204-1), and (204-2) connected to each rail (213), (214), and (215) allow the motor units to move independently of the housing (205) and independently of other motor units.

[0053] In some embodiments, the workspace visualization may be manipulated to generate a workspace roll relative to the work end of the robot assembly. In some embodiments, one or more work ends are mechanically rotated around an axis. This may be achieved by rotating one or more MUs. In some embodiments, each MU (which may be operably connected to the work end) may roll or rotate around an axis of insertion, as shown in Figures 10J–10K. Each MU may rotate independently. One or more MUs may roll as a group. Two arm MUs may roll as a group, independently of the camera MU. The rail may roll with the MUs relative to the housing (205). The housing may roll with the MUs and the rails. In some embodiments, the workspace is visually manipulated, and by the visual manipulation of the workspace, one or more work ends can be rotated. In some embodiments, the MU electronic housing houses at least a motor, and in some embodiments, also houses other electronic components for controlling the motor. The MU engagement element may be manufactured to accommodate several elements, which may be required to mechanically and electrically connect the MU to the corresponding robot assembly. In some embodiments, the first compartment of the system is manufactured to include at least one MU. In some embodiments, there are as many MUs as there are robot assemblies.

[0054] In some embodiments, there are three motor units (MUs). In these embodiments, one MU is intended to connect to the camera robot assembly as defined below and is referred to as the camera motor unit (203). The remaining two MUs are individually known as the arm MUs (204-1) and (204-2) and are intended to connect separately to the two arm robot assemblies as detailed below.

[0055] In some embodiments, the robot assembly includes robot engagement elements, support tubes, transition elements, and work ends. According to some embodiments, the robot engagement elements include one or more elements that can mechanically and / or electrically connect the robot assembly to the corresponding MU. Figures 4 and 10C illustrate a first robot engagement element (206) for a first arm MU (204-1) and a first work end (208) for the first arm MU (204-1). Figures 5 and 10D illustrate a second robot engagement element (207) for a second arm MU (204-2) and a second work end (209) for a second arm motor unit (204-2). Figures 6 and 10E illustrate a camera robot engagement element (211) for a camera motor unit (203) and a work end (212) for the camera motor unit (203). According to some embodiments, the support tube mechanically supports the working end of the robot assembly and facilitates the transmission and communication of mechanical force and power. According to some embodiments, the transition element allows the working end of the robot assembly to move radially within the trocar when inserted through the trocar. Figures 11 to 15 illustrate the transition element (220) of a camera motor unit, which allows the working end (212) of the camera motor unit to move radially within the trocar (210) while inserted through the trocar (210).

[0056] As shown in the cross-sectional view A1 of Figure 11, the working end (212) of the camera may be slightly visible when it enters the cross-section of the lumen of the trocar. As shown in the cross-sectional view A2 of Figure 12, a portion of the working end (212) of the camera may be fully visible within the cross-section of the lumen of the trocar. As shown in the cross-sectional view A3 of Figure 13, a portion of the working end (212) of the camera and a portion of the transition element (220) which may be connected to the working end (212) of the camera may both be fully visible within the cross-section of the lumen of the trocar. As shown in the cross-sectional view A4 of Figure 14, a portion of the support tube may be visible within the central region of the lumen of the trocar as the working end passes through the trocar. As shown in the cross-sectional view A5 of Figure 15, a portion of the support tube may be moved radially outward and may be visible adjacent to the inner wall of the trocar as the working end passes through the trocar. As shown in the cross-sectional view A6 of Figure 16, a portion of the support tube may be visible adjacent to the inner wall of the trocar. The working end of the robot arm may begin to be inserted into the trocar. As shown in the cross-sectional view A7 of Figure 17, a portion of the support tube may appear adjacent to the inner wall of the trocar, and a portion of the working end of the robot arm may appear in the central region of the trocar. As shown in the cross-sectional view A9 of Figure 18, both a portion of the support tube attached to the working end of the camera and a portion of the support tube attached to the working end of the robot arm may appear adjacent to the inner wall of the trocar. The support tube may be moved radially outward so as to be adjacent to the inner wall. As shown in the cross-sectional view A10 of Figure 19, both a portion of the support tube attached to the working end of the camera and a portion of the support tube attached to the working end of the robot arm may appear adjacent to the inner wall of the trocar, and the working end of the second robot arm may begin to enter the trocar. As shown in the cross-sectional view A11 of Figure 20, a portion of the working end of the second robot arm may pass through the available cross-section of the trocar. As shown in the cross-sectional view A12 in Figure 21, a portion of the support tube attached to the working end of the second robot arm may pass through the available cross-section of the trocar.As shown in the cross-sectional view A13 in Figure 22, the support tube for the working end of the camera, the working end of the robot arm, and the working end of the second robot arm may each be located adjacent to the inner wall of the trocar.

[0057] Figures 12 to 15 illustrate the support tube (221) that mechanically supports the working end (212) of the camera motor unit, facilitating the transmission of mechanical force and power, as well as communication.

[0058] As described above, in some embodiments, the system includes three separate robot assemblies: one camera robot assembly and two arm robot assemblies. In these embodiments, each robot assembly is mounted to a corresponding motor unit (203), (204-1), or (204-2) (see, for example, Figures 2–6 and Figures 10A–10E). In some embodiments, the working end of the camera robot assembly is designed to incorporate and utilize a stereo camera assembly disclosed in U.S. Patent Application No. 16 / 130,734, entitled Virtual Reality Surgical Camera System. That reference is attached in appendices and is incorporated herein by reference in its entirety. In other embodiments, the working end of the camera robot assembly is designed to incorporate and utilize another camera system, for example, a stereo camera capable of acting in the yaw and pitch directions. In some embodiments, the working end of the robotic arm assembly is designed to incorporate and utilize a multi-degree-of-freedom robot having an end effector at its distal end, such as the robotic arm disclosed in U.S. Patent No. 10,285,765B2, titled Virtual Reality Surgical Device, and / or the wrist assembly disclosed in U.S. Patent Application Publication No. 2019 / 0142531, titled Virtual Reality Wrist Assembly. Both references are attached in the appendices, which are incorporated herein by reference in their entirety. In other embodiments, the working end of the robotic arm assembly is designed to incorporate and utilize other robotic surgical instruments.

[0059] In some embodiments, the system includes a robot assembly of multiple cameras. In some embodiments, each motor unit and its corresponding robot assembly may be unified so that the working end of the robot assembly cannot be easily separated from the motor unit.

[0060] In some embodiments, the user may configure the RSS so that it is in a suitable location for surgery and ready for the appropriate robot assemblies to be attached to their corresponding motor units. Each motor unit may be appropriately covered (covered with a sterile barrier) before, during, or after the attachment of each robot assembly. Once the robot assemblies are attached and appropriately covered (if applicable), the patient may be brought in and placed on the operating table and prepared for surgery. An incision is then made for the trocar (210), and the trocar is inserted into the patient to provide access to the desired operating site. For example, to access the patient's abdominal cavity, the trocar (210) may be inserted into the patient's abdominal wall. In this example, carbon dioxide is then blown into the patient's abdomen. With the blowing into the patient's abdomen, the RSS may then be maneuvered to a position on the patient and the trocar (210). The RSS may then be coupled to the trocar (210). Once the trocar (210) is aligned with the RSS and attached to the RSS, the robot assembly may be inserted into the patient one by one (for example, Figures 7–9 and 10G–10I).

[0061] In some embodiments, when the working end of the robot assembly is inserted into the trocar (210), the working end of the robot assembly is deflected toward the center of the trocar (210) by contacting the inner wall of the trocar (210), thereby allowing the working end of the robot assembly to pass through the trocar (210). In some embodiments, once the working end has passed through the trocar (210), the trocar (210) maintains a seal around it, thereby maintaining the blowing. Once the working end has passed through the trocar (210), the transition element guides it not to deflect, thereby moving radially outward within the trocar (210) and providing space for the next trocar (210) to pass through. In some embodiments, radial motion within the trocar (210) may be achieved automatically or in a controlled manner by incorporating another acting joint or mechanism within the support tube of the robot assembly, or within the corresponding motor unit, or within the RSS. As shown in Figures 10J and 10K, one or more working ends may rotate collectively while maintaining their relative positions to each other. This rotational motion may be achieved by rotating the housing (205). This rotational motion may also be achieved by rotating the channel or path within the inner surface of the housing (205).

[0062] In some cases, the working end may be operably connected to a support tube, such as by a support tube. In some cases, the support tube may include a transition element. In some cases, the support tube may be a separate element from the transition element. The transition element may include a tapered end. The transition element may include a bent edge. In some cases, the support tube may not include a transition element.

[0063] The shape of the transition element (bent edge or tapered end) may at least partially provide radial outward movement of the working end as it exits the trocar and enters the body cavity. The stiffness of the support tube, transition element, or combination thereof may at least partially provide radial outward movement of the working end as it exits the trocar and enters the body cavity. The stiffness of the transition element, support tube, or combination thereof may at least partially be selected by selecting the thickness of the support tube, selecting one or more materials forming the support tube, selecting the length of the support tube, or any combination thereof.

[0064] The radially outward movement of the working end as it exits the trocar and enters the body cavity may be at least partially provided by manipulating the stiffness of the support tube, by adding a spring component to the support tube, or by hinge the motor unit to which the support tube is connected, or any combination thereof. In some cases, the support tube may be partially or temporarily connected to the trocar to provide or increase a radially outward force to the working end as it exits the trocar.

[0065] Referring to Figures 43 and 44, a robotic arm such as (208) or (209) is inserted into a portion of the patient (503) by inserting the robotic arm via a trocar (210). The robotic arm ((208) or (209)) may be operably connected by a support tube (221) to motor units ((203), (204-1), (204-2)) that remain outside the patient (503). The support tube (221) may include electrical components, mechanical components, or a combination thereof. The length of the support tube (221) may vary depending on the geometric shape of the support robot, the parameters of the robot placement procedure, the lengths of the components used in the surgical procedure, or any combination thereof. The length of another support tube (505) may be modified. The length of the trocar (506) may be modified. The length of the robotic arm (507) may be modified. The desired insertion depth (509) of the robotic arm within the body cavity of the patient (503) may be modified. The radius (508) of the motor unit may be modified.

[0066] As shown in Figure 45, there may be an additional length of support tube that can keep the motor unit further away from the patient, thereby avoiding contact between the motor unit and the patient (503) over a range of insertion pitch angles (510) and providing a gap (511) between them. The distance the robot arm may extend beyond the trocar may vary by parameters for one medical procedure and another. The length of the trocar (506) may be fixed by the size of the opening, or it may be fixed based on off-the-shelf components, such as those supplied to the hospital. The size of the motor unit may be determined by one or more design parameters. Thus, the length of the support tube may be one parameter that allows the robot arm to be inserted to a desired depth (509) while maintaining a sufficient distance between the motor unit and the patient. In some cases, the length of the support tube may be about 500 millimeters (mm) between the robot arm and the motor unit. In some cases, the length of the support tube may be about 400 mm to about 600 mm. In some cases, the length of the support tube may be about 300 mm to about 700 mm. In some cases, the length of the support tube may be approximately 300mm to 800mm. In some cases, the length of the support tube may be approximately 400mm to 1000mm. In some cases, the length of the support tube may be at least approximately 400mm. In some cases, the length of the support tube may be at least approximately 300mm. In some cases, the length of the support tube may be at least approximately 500mm.

[0067] In some cases, it may be advantageous for the support tube to have sufficient rigidity (e.g., during insertion) to support at least a portion of the weight of the robot arm (preferably substantially the entire weight of the robot arm) and to be able to push the robot arm through the trocar (e.g., during initial insertion). The trocar may include a sealing membrane. The sealing membrane may provide friction against the insertion of the arm. This friction allows the rigidity of the support tube to overcome this force without substantially buckling the support tube. Once inserted, the trocar may provide further rigidity to the support tube by either directly connecting the support tube to a portion of the inner wall of the trocar or by relating them. The amount or length of the support tube exiting the trocar may be shorter than the total length of the support tube and may be substantially more rigid with respect to bending than that length. This design or similar may allow the robot arm to exert more force during one or more actions, such as when the robot arm can pull sutures or bluntly peel tissue.

[0068] Referring to Figure 46, two robot arms and one robot camera may be inserted sequentially through a trocar. To facilitate sequential insertion, the inner diameter of the trocar (210-b) and therefore the outer diameter of the trocar (201-a) may be minimized. Figure 46 shows the inner diameter of the trocar (210-b) and the arrangement of the three support tubes (two arms and one camera) inserted within the trocar.

[0069] Depending on the maximum diameters of the arms and camera, as well as the inner diameter of the trocar, the available space for the support tubes can be very important. Assuming that the camera is inserted first, then one arm, and finally the other arm, the highlighted areas (221-1), (221-2), and (221-3) may be the acceptable size for each support tube. When the second arm is inserted through the trocar, the second arm may also fit into the inner diameter (210-b) of the trocar, in addition to the support tubes for the camera and the other arm. Figure 46 shows a trocar (210) with inner and outer diameters (210-a). The highlighted areas show the support tubes for the camera (221-1), the first robot arm (221-2), and the second robot arm (221-3). The outer diameters of the camera (212a), the robot arm (208a), and the robot arm (209a) are also shown.

[0070] The purpose of the support tube may be, at least in part, to provide mechanical support to the robot arm, and to provide conduits for one or more electronic communication components (601) and mechanical components (602) (such as drive cables). The support tube may be hollow. The support tube may contain a lumen along at least a portion of its length. Figure 47 shows some layouts of these components as they pass through the support tube.

[0071] The wall thickness of the support tube may be minimized to create space inside the support tube for multiple electrical and mechanical components (such as drive cables and one or two electrical signal / power lines). Minimizing the thickness of the support tube to accommodate electrical and mechanical components may compromise the rigidity of the support tube with respect to bending and compression. When selecting an implementation, the cross-sectional shape, wall thickness, material, manufacturing method, mounting method, usage parameters, and potential failure modes of the support tube may be considered.

[0072] Manufacturing method Various manufacturing methods may be employed for the support tube. In some cases, a circular tube may be roll-formed to produce an iris-shaped contour. Another option is to weld the two circular sections of the tube together. Welding can be difficult and may leave a rough or unclean internal seam. Another option is to draw-form the support tube using a mold. In this method, the material may be cold-worked during the forming process.

[0073] The resulting cross-sectional shape is more rounded than the corners of the contour shown in Figure 48, which may be desirable in that the internal surface is smoother, and the compression and bending performance of the support tube may be more predictable.

[0074] The contour of the support tube may have an outer (left) curve (701) that efficiently conforms to the inner diameter of the trocar, while the inner (right) curve (702) may have a smaller diameter, thereby making the support tube wider overall. The upper curve (703a) and lower curve (703b) may move smoothly in parallel from one to the other without creasing the metal tube, which may be weaker with respect to bending. The corner radius may be large enough to accommodate one or more data lines.

[0075] The bending stiffness of the cross-section shown in Figure 48 may be governed by the following equation (assuming the support tube behaves as a beam):

[0076] M(x) = -EIK

[0077] "M" is the bending moment, "E" is the modulus of elasticity of the material, "I" is the second moment of area, and "K" is the curvature of the beam due to bending. The material may be 304 stainless steel (which may be suitable for medical applications and may have improved weldability compared to 316 stainless steel). The modulus of elasticity may be determined. The second moment of area may be determined from the cross-section of the formed support tube, which was calculated using Solidworks® (see Figure 49).

[0078] The principal second moment of area, when calculated, may be 19.6 mm² (thin dimension) in the x-bending direction and 54.3 mm² in the y-bending direction. Therefore, depending on the cross-sectional shape, the support tube may be approximately three times stiffer in the vertical direction than in the horizontal direction. In a robot, the y-direction may be more closely aligned with the direction of gravity, and the support tube may be stiffer under the weight of the robot arm.

[0079] The support tube may contain one or more drive cables (e.g., 14 drive cables). The drive cables may be under tension at different levels (or always under tension). The support tube may be under constant compression along its long axis. Conventionally, long beams under compression are sometimes undesirable because they tend to buckle if the bending stiffness is too low or the compressive load is too high. A mechanism may be provided inside the support tube to improve the bending stiffness of the tube by using tensioned cables.

[0080] Different properties that can affect bending stiffness If the wall thickness of the tube is greater (inward; the outer contour remains the same): the second moment of area ("I" in the beam bending equation) may increase almost linearly. A rough approximation of a thin-walled round support tube may be based on the following equation, I = Pi * r^3 * t, where t = thickness, which may result in a slightly greater buckling strength, a (possibly small) greater weight of the support tube, a significantly greater compressive strength of the cross-section, a smaller internal area of ​​the support tube (where cables and wiring can pass through), or any combination thereof.

[0081] If the wall thickness of the tube is greater in the outward direction: the second moment of area increases significantly (again, I = Pi * r^3 * t), where "r" is the radius of the support tube, which may increase, the buckling strength may increase slightly, the weight of the support tube may increase slightly, the compressive strength may not change significantly unless the dimensions change significantly, the internal area of ​​the support tube for wiring and cables may be maintained, or any combination thereof.

[0082] A longer support tube may result in weaker bending, a lower natural frequency, reduced buckling strength (compressive stiffness along the axial direction), or any combination thereof.

[0083] How to install the support tube In some cases, it is desirable for the support tube to be firmly attached to both the robot arm and the motor unit. Since the robot arm may contain steel at its proximal end, it may be desirable to weld the two bodies together. Without using a butt joint, the support tube may be partially inserted into the proximal end of the robot arm body, which may create a longer weld line (801) that is substantially more rigid with respect to bending. Figure 50 shows how the support tube (221) and the robot arm ((208) or (209)) may interface. The red dotted line is the weld line (801).

[0084] The proximal end of the support tube may be mounted on the motor unit, which may include aluminum. Direct welding of the support tube to the motor unit may not be an option. Instead, one or more brackets and one or more stiffening plates may be welded to the proximal end of the support tube, thereby allowing the support tube to be bolted to the motor unit.

[0085] The support tube may need to be precisely positioned relative to the motor unit. In such cases, one or more aligned dowel pins may be used.

[0086] As shown in Figure 51, the cross section of the support tube may be clamped between two substantially rigid brackets (903) under a large compressive load from the bolts. To ensure that the cross section does not fold under this force, the brackets (903) themselves and small stiffening plates (902) may be welded to the support tube (221). To help produce a smoother transition in bending stiffness, the stiffening plates (902) and the thin projection (901) of the brackets (902) may extend beyond the mounting brackets (903). A sharp transition in bending stiffness between the support tube (221) and the mounting brackets (903) may create a weak spot when the support tube is under bending moment. Adding one or more plates may help minimize this effect.

[0087] Figure 16 illustrates the first working end (208) of the first arm MU and the working end (212) of the camera MU inserted via the trocar (210). As shown in Figures 17 to 22, the transition element (222) for the first arm MU may guide the first working end (208) of the first arm MU via the trocar (210). Furthermore, the transition element (224) for the second arm MU may guide the second working end (209) of the first arm MU via the trocar (210). The transition elements (222) and (224) for the first and second arm MUs may guide the first working end (208) of the first arm MU and the second working end (209) of the second arm MU via the trocar. As described above, the transition element of the camera MU may similarly guide the working end of the camera MU via the trocar (210), thereby inserting all three working ends via the trocar. Figures 23 to 25 show the first working end (208) of the first arm MU, the second working end (209) of the second arm MU, and the working end (212) of the camera MU inserted via the trocar (210). The transition element (222) for the first arm MU and the transition element (224) for the second arm MU may also be inserted via the trocar (210).

[0088] After each robot assembly is inserted, the remaining cross-sectional area in the trocar (210) decreases, from which further robot assemblies and / or other instruments can be inserted. This is because the support tubes of each robot assembly occupy space within the trocar (210). According to one embodiment, this is illustrated in Figures 11–22. Therefore, to ensure that there is sufficient space for the necessary robot assemblies or other instruments to be inserted into the working part, robot assemblies or instruments with larger cross-sectional areas are inserted first, followed by robot assemblies or instruments with smaller cross-sectional areas. One way to insert a set of instruments of different sizes is to insert the largest instrument first, followed by the second largest, then the third largest, and so on.

[0089] In some embodiments where all robot assemblies or fixtures have similar or identical cross-sectional areas, or where all robot assemblies or fixtures have sufficiently small cross-sectional areas, the insertion order may be based on other factors. In embodiments where one robot assembly or fixture has a much larger cross-sectional area than the others (and thus cannot be inserted if the others have already been inserted), the larger fixture should be inserted first. For example, if a camera robot assembly has such a large cross-sectional area that it cannot be inserted if an arm robot assembly has already been inserted, then the camera robot assembly should be inserted first.

[0090] According to some embodiments, this procedure is repeated for each robot assembly until all desired robot assemblies have been inserted into the patient via a trocar (210). Once inserted into the patient, each robot assembly may be moved to a position ready for surgery, either at the surgeon's instruction or in an automated manner. In some embodiments, the stereo cameras of the robot assembly are configured to be equidistant from the shoulder joints of each robot arm, and therefore centered between the arms. This alignment of the stereo cameras with the two shoulder joints creates a virtual shoulder of the robot. In some embodiments, there are at least two robot arms with at least six degrees of freedom and at least one stereo camera with two degrees of freedom, thereby enabling the robot to act in discrete directions (e.g., left, right, straight) facing each other. In some embodiments, the robot may be configured to move continuously between a plurality of discrete positions in which it acts at any desired position (Figures 23-25). According to some embodiments, continuous movement is achieved by changing the facing angle of the robot's virtual shoulder. The facing angle is a direction defined by the center of the user's workspace at a given time. Another way to explain this is that the face-to-face angle is the direction defined as the front by the user. According to some embodiments, the face-to-face angle of the virtual shoulder is controlled by adjusting the relative insertion depth of each robot and simultaneously adjusting the angles of the respective joints of the robot arm and camera robot, thereby achieving a smooth transition.

[0091] After insertion, the user may operate using input devices and HMDs disclosed in U.S. Patent No. 10,285,765B2. In some embodiments, the face-to-face angle of the system can be adjusted by the user during operation, thereby making it appear to the user as if they are rotating around the chair. According to some embodiments, this effect may also be achieved by incorporating certain user interface (UI) elements, such as tracking the user's chair, pinch or click gestures to rotate the world, or buttons on a hand controller. The area in which the user accesses the surgical environment is sometimes referred to as the workspace. This ability to rotate in place gives the user a larger workspace for positioning a trocar, thereby allowing more degrees of freedom to complete the procedure. Furthermore, in some embodiments, the user may utilize the additional degrees of freedom provided by the RSS to move and rotate the robot assembly across the surgical field, thereby further improving the available workspace.

[0092] Once the user has completed the procedure, the robot assembly needs to be removed via the trocar (210). In some embodiments, the robot assembly automatically moves to an orientation ready for removal. For example, the working end of the robot assembly may be straightened and aligned with the axis of insertion. In some embodiments, the robot assembly may be able to loosen. Once the robot assemblies are ready for removal, in some embodiments they are removed one by one by being moved backward via the trocar (210). In one embodiment, as each robot assembly is moved toward the trocar (210), a transition element may contact the inner tip of the trocar (210) to guide the working end of the robot assembly to deflect radially inward relative to the trocar (210). This allows the working end of the robot assembly to continue passing through the trocar (210). In this embodiment, after the working end has passed through the trocar (210), the walls of the trocar guide the working end to become undeflected. At this point, the robot assembly can be pulled back until it is completely removed. The user then proceeds to move the remaining robot assembly, continuing until they are all removed. In other embodiments, radial retraction within the trocar (210) may be achieved automatically or in a controlled manner by incorporating another working joint or mechanism within the support tube of the robot assembly, or within the corresponding MU, or within the RSS.

[0093] In embodiments where all robot assemblies or fixtures have similar or identical cross-sectional areas, or where all robot assemblies or fixtures have sufficiently small cross-sectional areas, the order of removal may be based on other factors. In embodiments where one robot assembly or fixture has a much larger cross-sectional area than the others (and thus cannot be removed until the others have been removed), the larger fixture is removed last.

[0094] In some embodiments, each MU may be connected to another or be a single integrated MU, and the linear movement required for insertion may be provided by the linear extension of each support tube in each robot assembly. In some embodiments, two MUs may be linearly translatable relative to a third MU, and the third MU may be linearly translatable relative to the RSS (see, for example, Figures 7-9). In these embodiments, when the third MU translates, the other two MUs translate with it. In some embodiments, each MU is connected to its own RSS and aligned independently.

[0095] Several significant advantages exist to the configuration detailed above. First, the ability of the working end to move radially outward within the trocar creates space, thereby allowing other instruments to be inserted through the same trocar (see, for example, Figures 11-22). Furthermore, once the robot assembly is inserted, the working space of the system may be moved simply by adjusting the relative depth of the robot assemblies, such as by adjusting the relative depth of the camera robot assembly and the arm robot assembly to work on one side, in a straight line, or on the other side. Thus, the user can access a larger area from a single insertion site. In addition, according to some embodiments, the insertion of the camera robot assembly and the arm robot assembly may be performed by inserting them straight in. Also, in some embodiments, each robot assembly may be removed from the patient by retracting each assembly straight out.

[0096] Embodiments of the subject matter described herein may be implemented in digital electronic circuits, or in computer software, firmware, or hardware, including structural means, structural equivalents thereof, or combinations thereof disclosed herein. Furthermore, embodiments of the subject matter described herein may be implemented using one or more computer program products, including one or more computer programs that are tangibly embodied in an information carrier (e.g., a machine-readable storage medium) or embodied in propagated signals for execution by or control of a data processing device (e.g., a programmable processor, a computer, or multiple computers). A computer program (also known as a program, software, software application, or code) may be written in any form of programming language, including compiled or interpreted languages, and may be deployed in any form, including as a standalone program or as modules, components, subroutines, or other units suitable for use in a computing environment. A computer program does not necessarily correspond to a file. The program may be stored in part of a file that holds other programs or data, in a separate file dedicated to the program, or in a series of interconnected files (for example, files that store one or more modules, subprograms, or parts of code).

[0097] The processes and logic flows described herein may be carried out by one or more programmable processors that perform the functions of the subject described herein by executing one or more computer programs, performing operations on input data, and generating outputs, comprising method steps of the subject described herein. The processes and logic flows may also be carried out by special-purpose logic circuits, such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits), and the devices described herein may be implemented as special-purpose logic circuits.

[0098] Processors suitable for executing computer programs include, for example, both general-purpose microprocessors and special-purpose microprocessors, as well as any one or more processors in any type of digital computer. Generally, a processor receives instructions and data from read-only memory or random-access memory, or both. Essential elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Generally, a computer also includes one or more mass storage devices for storing data, such as magnetic, magneto-optical disks or optical disks, or may be operablely linked to receive data from them, transfer data to them, or both. Suitable information carriers suitable for embodying computer program instructions and data include all forms of non-volatile memory, which include, for example, semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and optical disks (e.g., CDs and DVDs). Processors and memory may be complemented by or incorporated into special-purpose logic circuits.

[0099] The systems, apparatus, methods, and processes of the disclosed invention are intended to include modifications and adaptations developed using information from the embodiments described herein. Adaptations and / or modifications of the systems, apparatus, methods, and processes described herein can be made by those skilled in the art.

[0100] Throughout this description, where articles, apparatus, and systems are described as having, including, or comprising certain components, or where processes and methods are described as having, including, or comprising certain steps, it is assumed that there are articles, apparatus, and systems of the disclosure that are essentially composed of or comprise the listed components, and that there are processes and methods relating to the disclosure that are essentially composed of or comprise the listed processing steps.

[0101] It should be understood that the order of steps or the order in which certain actions are performed may not be important, as long as the invention remains operational. Furthermore, two or more steps or actions may be performed simultaneously.

[0102] It should be understood that the applications of the disclosed subject matter are not limited to the configuration details and arrangement of components described above or illustrated in the drawings. Other embodiments of the disclosed subject matter are possible and can be implemented and performed in various ways. Furthermore, it should be understood that the expressions and terms used herein are for illustrative purposes only and should not be considered limiting. Thus, those skilled in the art will understand that the concepts on which this disclosure is based can be readily used as a basis for the design of other structures, methods, and systems to perform some of the purposes of the disclosed subject matter.

[0103] Magnetic sensing system In the following description, numerous specific details are provided regarding the systems and methods of the subject matter, as well as the environments in which such systems and methods can operate, in order to provide a complete understanding of the subject matter. However, it will be apparent to those skilled in the art that the subject matter can be implemented without such specific details, and that certain features well known in the art have not been described in order to avoid complicating the subject matter. In addition, it will be understood that the examples provided below are illustrative, and that other systems, apparatus, and / or methods within the scope of the subject matter are assumed to exist.

[0104] This system / method is designed to track and sense the orientation and movement of one and / or more joints of a miniaturized surgical robotic device, but the system may be implemented with any device that uses magnets to track and sense the orientation and movement of robotic joints. This system / method may also be implemented with any device or system that may require and / or utilize magnetic tracking and / or magnetic sensing when the currently available magnetic tracking and / or magnetic sensing systems are too large due to imposed geometric constraints.

[0105] The robot assembly may include a magnetic sensing system, such as a magnetic sensing system for robot joints (e.g., a robot joint in a cable-driven robot arm). The robot joint may be operably connected to the corresponding magnetic sensing system. The robot joint may include the corresponding magnetic sensing system. The magnetic sensing system may be configured to sense the displacement or movement of the robot joint.

[0106] A magnetic sensing system may include magnets and sensors. The sensors may be configured to detect changes in at least a portion of the magnetic field of a magnet. A magnetic sensing system may include multiple magnets and multiple sensors. The sensors may be configured to measure changes in at least a portion of the magnetic field of at least a portion of the multiple magnets.

[0107] One or more magnets in a magnetic sensing system may be located in an array. The array of magnets may form a magnetic field. One or more sensors in a magnetic sensing system may be located in an array. The array of sensors may individually measure at least a portion of the magnetic field generated by one or more magnets. The array of sensors and magnets may be configured to optimize (i) space for accommodating multiple components (such as cables) or for passing through joints (such as a cable-driven robotic arm), (ii) range of motion or movement of joints, (iii) measurement accuracy of the magnetic sensing system, or (iv) any combination thereof.

[0108] The array may include one or more magnets. The array may include at least two magnets. The array may include at least four magnets. Two or more magnets may be arranged substantially in a column. Two or more magnets may be arranged substantially in a single plane; for example, four magnets may be arranged substantially in a single plane. The magnet array may include magnet arrays such as 2x2, 2x3, 2x4, 3x4, 4x4, or others.

[0109] Magnets, each having a north pole and a south pole, may be arranged relative to each other in numerous different ways. Two magnets (such as magnets arranged in substantially different columns) may be oriented to opposite poles, so that the first magnet is oriented NS relative to the second magnet, and the second magnet is oriented SN relative to the first magnet. The magnets in the first column may be positioned such that their dipoles are oriented in alternating orientations relative to the dipoles of the second column, for example, the first column may be oriented NS,NS and the second column may be oriented SN,SN. A magnet with an NS dipole may be positioned diagonally, at an angle, or intersecting a magnet with an SN dipole. The south pole of one magnet may directly face the north pole of the second magnet. A side of a magnet moving from north to south may directly face a side of a second magnet positioned to move from south to north.

[0110] An array of one or more magnets may form a magnetic field. Changes in at least a portion of the magnetic field may be measured by one or more sensors. The magnetic field may include orthogonal magnetic field components, parallel magnetic field components, non-parallel magnetic field components, or any combination thereof.

[0111] The magnets may be arranged within the division of a joint. For example, a joint containing two magnets may have a first magnet located in the first half of the joint and a second magnet located in the second half of the joint. A joint containing four magnets may have a first magnet located in the first quadrant of the joint, a second magnet located in the second quadrant of the joint, a third magnet located in the third quadrant of the joint, and a fourth magnet located in the fourth quadrant of the joint. This positioning of multiple magnets within a subdivision of a joint is carried out with approximately 2, 3, 4, 5, 6, 7, 8, 9, 10, or more magnets in a single joint.

[0112] One or more sensors may form a sensor array along substantially one plane. The sensor plane may be positioned substantially perpendicular to one or more magnets or arrangements of magnets. The sensor plane may be positioned substantially parallel to one or more magnets or arrangements of magnets. One or more sensors may form a sensor array along more than one plane. The sensor array may include sensor arrays such as 2x2 sensors, 2x3 sensors, 2x4 sensors, 3x4 sensors, 4x4 sensors, or others.

[0113] The sensor plane (e.g., positioned substantially perpendicular to the magnet array) may be located between two or more magnets. The sensor plane may be located outside the magnet array. The sensor plane may be located between the first magnet of a column and the second magnet of a column. The sensor plane (plan) may be located between the first magnet of the first column and the second magnet of the second column.

[0114] One or more magnets in the magnetic sensing system may be located substantially around the periphery of the robot joint. One or more sensors may be located substantially distal to the center of the robot joint. One or more sensors in the magnetic sensing system may be located substantially around the periphery of the robot joint. One or more magnets may be located substantially distal to the center of the robot joint.

[0115] The arrangement of magnets and sensors in a magnetic sensing system may provide measurement of robot joint displacement with higher resolution compared to an equivalent robot joint without such an arrangement. Higher resolutions include approximately 1.1x, 1.2x, 1.3x, 1.4x, 1.5x, 1.6x, 1.7x, 1.8x, 1.9x, 2.0x, or higher.

[0116] The arrangement of magnets and sensors in a magnetic sensing system may provide more accurate measurement of robot joint displacement compared to an equivalent robot joint without such an arrangement. The measurement accuracy may be at least about 70%, 80%, 85%, 90%, 95%, 96%, 97%, 98%, 99%, or higher.

[0117] According to several embodiments, the virtual diametric magnets described herein may be incorporated into and / or designed to be used in conjunction with a robotic arm disclosed in U.S. Patent No. 10,285,765B2, titled Virtual Reality Surgical Device, and / or a wrist assembly disclosed in International Patent Application No. PCT / US2018 / 60656 (published as International Patent Application No. W02019094896A1), titled Virtual Reality Wrist Assembly. Both references are attached in the appendices, which are incorporated herein by reference in their entirety. In several embodiments, the virtual diametric magnet system may also be implemented and used in other existing and future surgical robotic systems or devices.

[0118] As used herein, a magnet includes at least an object or collection of objects capable of generating a magnetic field, including, but not limited to, neodymium, iron, and other formations of any other object capable of generating a magnetic field, such as permanent magnets, electromagnets, and / or any other objects.

[0119] As used herein, a sensor includes an object or collection of objects capable of measuring the strength of a magnetic field, or measuring any quantity from which the strength of a magnetic field can be derived, including, but not limited to, integrated circuits (ICs), MEMS systems, discrete electronic components, mechanical transducers, pure mechanical calculators, and / or any other object well known in the art that can measure or convert a magnetic field.

[0120] As used herein, a joint includes an object or set of objects that can be displaced relative to each other, either by translation or by an angle.

[0121] As used herein, the sensor array is positioned relative to the magnet and relative to each other. It includes one sensor or a set of sensors, thereby positioning the sensor to measure one or more components of the magnetic field that fluctuate with joint displacement.

[0122] As described above, the systems disclosed herein are designed to be incorporated into and used with a robotic arm disclosed in U.S. Patent No. 10,285,765B2, according to several embodiments. Figure 28 shows a robotic joint (301) according to one embodiment. The robotic joint (301) shown in Figure 28 is a cable-driven joint. Figure 28 illustrates a region of the robotic joint (301) that is left for other components of the joint and therefore cannot be used for sensing components. According to some embodiments, the hatched region illustrated in Figure 28 is used by the drive cable of the distal joint or by a bearing that carries the cable load to provide smooth motion of the robotic arm. Due to the constraints imposed by the cable-driven robotic joint, there is not enough available space to implement any of the standard magnetic sensing solutions previously described. In Figure 28, the available space at the center of the joint (301) is less than approximately 1 millimeter (mm) thick × approximately 5 mm in diameter, which is insufficient to generate a magnetic field of acceptable strength using currently available magnets. Furthermore, placing one or more sensors (302) inside the internal space and positioning the magnet outside the internal space is also not feasible due to constraints of the robot joint design, as shown in Figure 26. The set of bearings at the outer ends of the joint on the axis of rotation hinders the use of sufficiently large disc-shaped magnets. Moreover, the bearings may be structurally supported around 360 degrees and may have large unidirectional loads, thereby hindering the use of large annular magnets.

[0123] Figure 26 is an isometric view of a system in which a sensor array (303) is positioned on the axis of a rotating magnet (304) at a distance in the axial direction. The sensor array (303) may include one or more sensors (302). Figure 27 is an isometric view of a system in which the sensor array (303) is positioned in a plane through the center of the magnet (304) or in its vicinity, and perpendicular to the axis of rotation. The arrangements of sensors (302) and magnets (304) shown in Figures 26 and 27 may be limited to those that can be arranged in a robot joint due to the spatial volume in which these arrangements may be required, thereby limiting the design of the joint. The system may further include a flexible printed circuit board (PCB) (305) extending around the peripheral portion of the system.

[0124] The systems disclosed herein generally involve an array of magnets and sensor arrays, whose space and relative location provide sufficient space for a large number of cables to be routed through the center of the joint, and enable accurate sensor readings with respect to joint orientation and precision. According to one embodiment, the array of magnets and sensor arrays of the systems disclosed herein allows magnetic energy to be distributed across the available space of the joint. In a sense, the array provides a simple and repeatable method for recovering joint displacement information with high resolution.

[0125] Figure 29 outlines the arrangement of magnets (311), (312), (313), and (314) in the system according to several embodiments. In Figure 29, there are two columns of magnets, (320-1) and (320-2). Column 1 (320-1) consists of magnets 1 (311) and 4 (314), and column 2 (320-2) consists of magnets 2 (312) and 3 (313). Columns 1 (320-1) and 2 (320-2) are spaced a certain distance apart from each other, and each column is separated into two parts, creating four quadrants. As can be seen in these embodiments, instead of using a single magnet near the sensor, a set of four magnets is arranged in multiple quadrants, with the magnetization directions aligned between magnets 1 (311) and 4 (314), and between magnets 2 (312) and 3 (313). Furthermore, in this embodiment, the magnetization direction between magnet 1 (311) and magnet 4 (314) is opposite to the magnetization direction between magnet 2 (312) and magnet 3 (313). Figure 30 shows a simulation of the resulting magnetic field generated by the arrangement illustrated in Figure 29. In some embodiments, the set of four magnets (311), (312), (313), and (314) are neodymium permanent magnets.

[0126] In one embodiment, as illustrated in Figure 32, a sensor array (303) in a plane perpendicular to columns 1 (320-1) and 2 (320-2) occupies a space separating each column, and a magnetic field flows from one magnet in one column to the corresponding magnet in the same column. In some embodiments, the components of the magnetic field sensed by the sensor array (303) may be orthogonal magnetic field components at a point in space, individual parallel or non-parallel magnetic field components at different points in space, or any combination thereof. The data collected by the sensor array (303) may then be used by one or more sensors (302) or remote computing to estimate joint displacement. One or more sensors (302) may be located on the surface of a substrate (330) of a printed circuit board (PCB). In one embodiment, the results of the calculation are the same as when the magnets are stationary and the sensor array (303) is moving, or vice versa.

[0127] Referring again to Figure 32, the sensor (302) closer to column 1 (320-1) senses the magnetic field generated by magnets (311) and (314) (magnets 1 and 4) in column 1, while the sensor (302) closer to column 2 (320-2) senses the magnetic field generated by magnets (312) and (313) (magnets 2 and 3) in column 2. The sensing and reading of this array is illustrated in the simulation results shown in Figure 31. Figure 31 shows the perpendicular component of the magnetic field in the plane of the sensor array (303) between column 1 (320-1) and column 2 (320-2). As described above, the sensor array may include one or more sensors (302). In some embodiments, the precise spacing of the columns and the spacing between the magnets (311), (312), (313), (314) may vary substantially based on the strength of the magnets and / or the geometric shape and design specifications of the joint. The arrangement illustrated in Figure 32 allows the relatively narrow plane of the sensor (302) to be positioned at or near the center of the joint, while providing ample space available across the joint volume with several magnets positioned around the joint. Figure 33 shows an exemplary embodiment of the sensing system as implemented in a joint (301). As can be seen in Figure 33, the sensing system is available within a limited volume, and therefore one or more magnets (315) are positioned at the extreme ends of the joint (301), with the sensor (302) located in the center. Using this arrangement, multiple cables driving the distal joint can pass through the joint (301), thereby enabling smooth movement by integrating space for rolling element bearings (340) and providing accurate sensing with respect to closed-loop control of the angular displacement of the joint.

[0128] Embodiments of the subject matter described herein may be implemented in digital electronic circuits, or in computer software, firmware, or hardware, including structural means, structural equivalents thereof, or combinations thereof disclosed herein. Furthermore, embodiments of the subject matter described herein may be implemented using one or more computer program products, including one or more computer programs that are tangibly embodied in an information carrier (e.g., a machine-readable storage medium) or embodied in propagated signals for execution by or control of a data processing device (e.g., a programmable processor, a computer, or multiple computers). A computer program (also known as a program, software, software application, or code) may be written in any form of programming language, including compiled or interpreted languages, and may be deployed in any form, including as a standalone program or as modules, components, subroutines, or other units suitable for use in a computing environment. A computer program does not necessarily correspond to a file. The program may be stored in part of a file that holds other programs or data, in a separate file dedicated to the program, or in a series of interconnected files (for example, files that store one or more modules, subprograms, or parts of code).

[0129] The processes and logic flows described herein may be carried out by one or more programmable processors that perform the functions of the subject described herein by executing one or more computer programs, performing operations on input data, and generating outputs, comprising method steps of the subject described herein. The processes and logic flows may also be carried out by special-purpose logic circuits, such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits), and the devices described herein may be implemented as special-purpose logic circuits.

[0130] Processors suitable for executing computer programs include, for example, both general-purpose microprocessors and special-purpose microprocessors, as well as any one or more processors in any type of digital computer. Generally, a processor receives instructions and data from read-only memory or random-access memory, or both. Essential elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Generally, a computer also includes one or more mass storage devices for storing data, such as magnetic, magneto-optical disks or optical disks, or may be operablely linked to receive data from them, transfer data to them, or both. Suitable information carriers suitable for embodying computer program instructions and data include all forms of non-volatile memory, which include, for example, semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and optical disks (e.g., CDs and DVDs). Processors and memory may be complemented by or incorporated into special-purpose logic circuits.

[0131] The systems, apparatus, methods, and processes of the disclosed invention are intended to include modifications and adaptations developed using information from the embodiments described herein. Adaptations and / or modifications of the systems, apparatus, methods, and processes described herein can be made by those skilled in the art.

[0132] Throughout this description, where articles, apparatus, and systems are described as having, including, or comprising certain components, or where processes and methods are described as having, including, or comprising certain steps, it is assumed that there are articles, apparatus, and systems of the disclosure that are essentially composed of or comprise the listed components, and that there are processes and methods relating to the disclosure that are essentially composed of or comprise the listed processing steps.

[0133] It should be understood that the order of steps or the order in which certain actions are performed may not be important, as long as the invention remains operational. Furthermore, two or more steps or actions may be performed simultaneously.

[0134] It should be understood that the applications of the disclosed subject matter are not limited to the configuration details and arrangement of components described above or illustrated in the drawings. Other embodiments of the disclosed subject matter may be possible, and it may be implemented and performed in various ways. Furthermore, it should be understood that the expressions and terms used herein are for illustrative purposes only and should not be considered limiting. Thus, those skilled in the art will understand that the concepts on which this disclosure is based can be readily used as a basis for the design of other structures, methods, and systems to accomplish some of the purposes of the disclosed subject matter.

[0135] Positioning of electrical communication components within joints In the following description, numerous specific details are provided regarding the systems and methods of the subject matter, as well as the environments in which such systems and methods can operate, in order to provide a complete understanding of the subject matter. However, it will be apparent to those skilled in the art that the subject matter can be implemented without such specific details, and that certain features well known in the art have not been described in order to avoid complicating the subject matter. In addition, it will be understood that the examples provided below are illustrative, and that other systems, apparatus, and / or methods within the scope of the subject matter are assumed to exist.

[0136] The system / method is designed to transmit electrical communication components through the joints of a miniaturized surgical robot device with multiple degrees of freedom, but this system / method may be implemented in any device that desires to accurately sense the position and orientation of a joint without limiting the movement of the joint.

[0137] The systems / methods disclosed herein may, according to some embodiments, be designed to be incorporated into and used in conjunction with a robotic arm disclosed in U.S. Patent No. 10,285,765B2, entitled "Virtual Reality Surgical Device," or a wrist assembly disclosed in International Patent Application No. PCT / US2018 / 60656 (published as International Patent Application No. W02019094896A1), entitled "Virtual Reality Wrist Assembly," or a camera system disclosed in U.S. Patent Application No. 16 / 130,734, entitled "Virtual Reality Surgical Camera System." The aforementioned references are attached in appendices and are incorporated herein by reference in their entirety. In some embodiments, the systems / methods disclosed herein may be implemented and used in conjunction with other existing and future surgical robotic systems or devices.

[0138] In complex multi-degree-of-freedom systems, having telecommunications components in a continuous sequence is not always feasible from an assembly or manufacturing standpoint. In some examples, to address spatial constraints, multiple telecommunications components are utilized by being operably linked to one another. Each communication component is designed to be placed in the device whether or not the device is already assembled. This allows for easy repair in the event of failure or during repurposing after operation. As the number of degrees of freedom increases, the amount of data also increases because each joint is sensed independently. A microcontroller along the telecommunications component processes the data collected by each sensor in a way that reduces the number of electrical conductors per component and then transmits it again. This makes it possible to place a large number of sensors in a series of telecommunications components with fewer conductors. As a result, the width or thickness of the telecommunications components does not become excessively large.

[0139] According to some embodiments, the systems disclosed herein are used to transmit telecommunications components via an eight-degree-of-freedom surgical robot apparatus, which has position sensing elements and provides closed-loop control of each joint of the robot apparatus. The system is configured to ensure that control inputs from a control system are achieved accurately and precisely. In some embodiments, different telecommunications components may be used, including, but not limited to, flexible printed circuit boards ("FPCBs"), optical fiber cables, and / or other communication elements well known in the art that can transmit and receive electrical signals.

[0140] Various methods for transmitting telecommunications components through different types of robotic joints and actuators are disclosed in this specification. Some examples of robotic joints are described in the aforementioned patents and patent applications, and include, but are not limited to, hinge joints / actuators and rotary joints / actuators. According to some embodiments, the transmission methods of the disclosure make it possible to pass electrical signals and communications, such as readings by Hall effect sensors and camera sensors, from a distal part of the device to a control system or vice versa. In some embodiments, the telecommunications components have one or more movable segments designed to move in relation to the motion of one or more robotic joints. To avoid fatigue of the telecommunications components, as they pass through each joint, the movable segments of the telecommunications components are designed to have the largest possible radius of curvature and to produce arbitrary bending over multiple regions rather than at a single point. In some embodiments, the movable segments are constructed as coils of flexible circuits and are wound around the axis of a joint or around another point. In some embodiments, the moving segment can be folded in half in linear motion, with two ends of the electronic communication component fixed to two different bodies, and the folded (or bent) segment moves relative to the fixed ends. In some embodiments, the moving segment, along with the moving segment that can be folded in half, is constructed as a coil as described above. The systems / methods of these disclosures facilitate data transmission from dynamic systems without affecting the rest of the system.

[0141] The robotic arm of a robotic system may include one or more joints. The joints of the robotic arm may include at least a portion of a telecommunications component. The telecommunications component may pass through the joint and terminate operably at two ends, operably connecting the end effector to the origin of the robotic arm, or operably connecting the end effector (surgical instrument) to a control system. The telecommunications component may be configured to transmit one or more electrical signals to or from a portion of the robotic arm. The telecommunications component may be configured to transmit one or more electrical signals to or from a joint of the robotic arm. The portion of the telecommunications component may move during the operation or movement of the joint, thereby enabling the range of motion of the joint and preventing bending, folding, or damage to the portion, or a combination thereof. As the joint moves, the array of the portion that enables the movement of the portion may maintain the range of motion of the joint and protect the portion from damage to the electrical component from bending or distortion. During the movement of the portion of the joint, the array of the portion of the telecommunications component may be configured to substantially maintain the radius of curvature, such as by wrapping or forming a movable flex. The arrangement may include a wrap-around arrangement, a moving-bending arrangement, or other types. Another element that can help prevent damage to a portion of the telecommunications component may include incorporating a stopping element into a portion of the robot arm to limit the range of motion of at least a portion of the robot arm. The stopping element can at least partially limit the extension or compression of a portion of the telecommunications component. Damage to at least a portion of the telecommunications component may be prevented by incorporating a coating or film that covers at least a portion of the telecommunications component. The coating or film may contain a lubricant.

[0142] At least a portion of the electrical components within a joint may be wrapped around the axis of the joint (such as a rotary joint) to form at least partially spiral windings or at least partial coils. Some windings may be located inside the housing of the joint. Some windings may be located outside the shaft of the joint. Some windings may be located between the inner wall of the housing and the outer wall of the shaft of the joint. Some windings may fluctuate as the joint moves. Some of the windings may fluctuate in proportion to the range of motion of the joint. In the first range of motion of the joint, some windings may be maximized. In the second range of motion of the joint, some windings may be minimized. Some windings may be tightly wrapped around the axis of the joint (such as a shaft). Some windings may extend outward on the inner wall of the housing and be loosely wrapped around the shaft. During movement of the joint, the windings of the electrical components may be maintained, with some windings fluctuating. A joint having windings of electrical components may be a rotary joint or a hinge joint. A joint having windings may be a rotary joint.

[0143] At least a portion of the telecommunications component may extend within a joint (such as a hinge joint) to form movable flexion. During joint operation, at least a portion of the movable flexion may move. During joint operation, at least a portion of the movable flexion may move in proportion to the range of motion of the joint. The joint having movable flexion may be a rotational joint or a hinge joint. The joint having movable flexion may be a hinge joint.

[0144] The movable flexion may be located outside the joint. The movable flexion may be located within a portion of the joint, such as a housing. The movable flexion may be located within a channel of the housing. At least a portion of the channel may be physically separated from the joint. The channel may be located outside the central axis of the joint. The amount of movable flexion located within the channel may vary during joint movement. The amount of movable flexion located within the channel may vary in proportion to the range of motion of the joint. For example, in the first range of motion of the joint, a minimum amount of movable flexion may be located within the channel. In the second range of motion of the joint, a maximum amount of movable flexion may be located within the channel. The movable flexion may fold itself and extend to accommodate different amounts of movable flexion within the channel.

[0145] Different methods may be used to transmit telecommunications components through different types of robotic joints. Figures 34-35 show one embodiment of a rotary joint (401) in which an FPCB (402) is wrapped around the axis of the joint (401). In this embodiment, the FPCB (402) (or telecommunications component) is manufactured to have a long section (also referred to as the rotating coil section (403)) and two short sections perpendicular to the long section. During operation of the device, the long section is wrapped around the axis of the joint (401), and several wraps of the long section are subject to the desired movement of the joint (401). The two short sections protrude into the distal and proximal portions of the joint (401) and remain as stationary portions (404) relative to their respective housings (405), which are either distal or proximal. At each end, two short sections expose solder pads for connecting to another FPCB, thereby creating a chain to connect the FPCBs, increase the data transmission length, and facilitate assembly. In this embodiment, the rotating coil portion (403) of the FPCB (402) is seated between two portions, one of which functions as a shaft (406) and the other as a housing (405). When the joint (401) is at one extreme end of its range of motion, the rotating coil (403) is tightly wound around the shaft (406) with the maximum number of turns (Figure 34), and when it is at the other extreme end of its range of motion, the rotating coil (403) is extended as far as possible against the housing (405) with the minimum number of turns (Figure 35). The range of motion may be as small or as large as desired. In some embodiments, the rotating joint (401) may include a hard stop (407) to limit the range of motion. In these embodiments, the hard step (407) prevents the telecommunications components from wrapping around the shaft (406) of the joint (401) from above or below, thereby preventing tearing or outward bending from the telecommunications components. Furthermore, in some embodiments, the coil (403) is coated with a lubricant such as dielectric grease to reduce friction between the windings of the coil (403) and between the coil (403) and the housing (405).In some embodiments, a Teflon® film is applied to the coil (403). In some embodiments, the housing (405) contains a Teflon® coating or diamond-like coating to help reduce friction during the operation of the joint (401) and to reduce the possibility that only a portion or section of the coil (403) will expand or come into contact, thereby reducing the possibility that the telecommunications components will bend outward and / or avoid.

[0146] Figures 38-39 show an embodiment of a hinged joint (410) with telecommunications components being fed through it. The telecommunications components may include an FPCB (420). Unlike the rotary joints described above, where the mechanical drive cable runs along / parallel to the axis of the joint, the mechanical drive cable in this hinged joint (410) runs perpendicular to the axis of the joint (410), and therefore a different feeding technique may be required. In this embodiment, the telecommunications components are not wound around the axis of the hinged joint (410), but instead run along its outside and extend along the movable flex (412) located within the housing (channel) (414). During the operation of the joint (410), the movable flex (412) moves along the channel (414), so that at one extreme end, the movable flex (412) is near the exit point of the channel (414) (near the axis (415)) and has the minimum amount of telecommunications components within the channel (414) (Figure 38). At the other extreme end, the movable flex (412) is moved toward the base of the channel (414) (away from the axis (415)) and has the maximum amount of telecommunications components within the channel (414) (Figure 39). The hinge joint (410) may be configured to move the distal end (421) of the rotary FPCB relative to the proximal end (422) of the rotary FPCB. The proximal end (422) may remain stationary while the distal end (421) moves. The hinge joint (410) may be configured to move the distal end (421) of the rotary FPCB relative to the stationary portion (423) of the proximal end (422) of the rotary FPCB.

[0147] In some embodiments, passive and / or active retraction elements are used to ensure that the telecommunications component flexes in the expected manner during contraction. In some embodiments, an elastic element with low stiffness is connected to one end of the mechanical housing of the joint and to the telecommunications component. During flexion of the joint, the moving flexion (412) of the telecommunications component progresses within the housing or channel (414), stretching the elastic element and generating a restoring force on the telecommunications component and the hinge joint (410) that the joint (410) overcomes. During extension of the joint (410), the elastic element exerts a tensile force on the telecommunications component, thereby overcoming any frictional or outward bending forces and restoring the communication component to its original position in the channel (414). In some embodiments, the elastic element is manufactured as a rubber band or similar material. In some embodiments, a constant-force spring or an actively repressed actuator is used.

[0148] In some embodiments, the movement of the joint itself determines the position of the telecommunications component. In these embodiments, the moving part of the joint (410) functions as a cam, and a pin positioned in the joint (410) functions as a cam follower. When the joint (410) moves in a first direction, the telecommunications component is pulled out of its channel (414) or housing, and the pin is pulled along with it. When the joint (410) moves in a second direction opposite to the first direction, the moving part of the joint pushes the pin back into the telecommunications component, thereby pushing the element back into its housing or channel (414). In these embodiments, compared to the use of elastic elements described above, a lower force is provided to the telecommunications component, resulting in negligible resistance to the movement of the joint.

[0149] In some embodiments, both a coil of the telecommunications component and a linear retraction mechanism of the telecommunications component are utilized. As illustrated in Figures 36-37, in some embodiments, the telecommunications component may include an FPCB (440). One or more Hall effect sensors (441) may be operably connected to the FPCB (440). Figures 36-37 show a camera device (450), where the main joint is a pivot axis, but both a rotary mechanism and a linear mechanism are utilized due to a high range of motion of approximately 720 degrees and limited space around the joint. The rotary and linear mechanisms may be located within a housing (451). In these embodiments, when the joint is at one extreme end, the rotating portion of the telecommunications component (rotating coil (452)) is tightly wound around the axis of the joint, and the bending of the linear portion of the telecommunications component is near the joint (Figure 36). A constant-force spring (not shown) is also wrapped around the joint axis, thereby applying force to the telecommunications components to prevent them from bending outward. The constant-force spring ensures that the wrapping around the joint remains as small as possible, preventing uneven expansion of the wrapping. When the joint rotates to the other extreme end, the coil (452) around the axis expands. Due to the limited radial space around the screw and the constant force applied by the screw, the expanded portion of the coil (452) (the coil in moving flexion (453)) is drawn into the linear retraction section (away from the joint), thereby preventing outward bending during coil expansion (Figure 37).

[0150] To ensure that the winding around the joint remains as small as possible, according to some embodiments, the constant force spring is wound around the outside (454) of the rotating coil (452) (see Figure 37). In these embodiments, when the rotating coil (452) is in the retracted position, the constant force spring compresses the rotating coil (452) tightly against the joint (as shown in Figure 36). The length of the constant force spring may vary depending on the length of the rotating coil (452) configured to compress against the joint. In some embodiments, the constant force spring is embedded within the rotating coil (452). In some embodiments, the constant force spring is mounted on the inside (455) of the rotating coil (452) (see Figure 37). In these embodiments, the inside of the constant force spring is wound around the joint in the retracted position (as shown in Figure 36), and the outside (454) of the spring is mounted on the inside (455) of the rotating coil (452). As the joint rotates and expands the rotating coil (452), the constant force spring is pulled away from the joint, and then the movable flexion (453) is moved away from the joint (Figure 37). The rotating coil (452) may include a stationary portion (455).

[0151] Embodiments of the subject matter described herein may be implemented in digital electronic circuits, or in computer software, firmware, or hardware, including structural means, structural equivalents thereof, or combinations thereof disclosed herein. Furthermore, embodiments of the subject matter described herein may be implemented using one or more computer program products, including one or more computer programs that are tangibly embodied in an information carrier (e.g., a machine-readable storage medium) or embodied in propagated signals for execution by or control of a data processing device (e.g., a programmable processor, a computer, or multiple computers). A computer program (also known as a program, software, software application, or code) may be written in any form of programming language, including compiled or interpreted languages, and may be deployed in any form, including as a standalone program or as modules, components, subroutines, or other units suitable for use in a computing environment. A computer program does not necessarily correspond to a file. The program may be stored in part of a file that holds other programs or data, in a separate file dedicated to the program, or in a series of interconnected files (for example, files that store one or more modules, subprograms, or parts of code).

[0152] The processes and logic flows described herein may be carried out by one or more programmable processors that perform the functions of the subject described herein by executing one or more computer programs, performing operations on input data, and generating outputs, comprising method steps of the subject described herein. The processes and logic flows may also be carried out by special-purpose logic circuits, such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits), and the devices described herein may be implemented as special-purpose logic circuits.

[0153] Processors suitable for executing computer programs include, for example, both general-purpose microprocessors and special-purpose microprocessors, as well as any one or more processors in any type of digital computer. Generally, a processor receives instructions and data from read-only memory or random-access memory, or both. Essential elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Generally, a computer also includes one or more mass storage devices for storing data, such as magnetic, magneto-optical disks or optical disks, or may be operablely linked to receive data from them, transfer data to them, or both. Suitable information carriers suitable for embodying computer program instructions and data include all forms of non-volatile memory, which include, for example, semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and optical disks (e.g., CDs and DVDs). Processors and memory may be complemented by or incorporated into special-purpose logic circuits.

[0154] The systems, apparatus, methods, and processes of the disclosed invention are intended to include modifications and adaptations developed using information from the embodiments described herein. Adaptations and / or modifications of the systems, apparatus, methods, and processes described herein can be made by those skilled in the art.

[0155] Throughout this description, where articles, apparatus, and systems are described as having, including, or comprising certain components, or where processes and methods are described as having, including, or comprising certain steps, it is assumed that there are articles, apparatus, and systems of the disclosure that are essentially composed of or comprise the listed components, and that there are processes and methods relating to the disclosure that are essentially composed of or comprise the listed processing steps.

[0156] It should be understood that the order of the steps or the order in which certain actions are performed is not important, as long as the invention remains operational. Furthermore, two or more steps or actions may be performed simultaneously.

[0157] It should be understood that the uses of the disclosed subject matter are not limited to the configuration details and arrangement of components described above or illustrated in the drawings. Other embodiments of the disclosed subject matter may be possible, and it may be implemented and performed in various ways. Furthermore, it should be understood that the expressions and terms used herein are for illustrative purposes only and should not be considered limiting. Thus, those skilled in the art will understand that the concepts on which this disclosure is based can be readily used as a basis for the design of other structures, methods, and systems to accomplish some of the purposes of the disclosed subject matter.

[0158] Combination of embodiments Any embodiment described herein may be used in combination with one another. For example, an array of magnets and sensors in a magnetic sensing system may be used in combination with winding or forming the movement and bending of telecommunications components within a joint. For example, including radially outward forces by modifying the stiffness of a support tube connected to the working end of a robot system may be used in combination with an end effector or a robot arm having an elbow portion that moves independently from an origin, such as a shoulder. [Examples]

[0159] The following illustrative examples are representative of the embodiments of the simulation, system, and method described herein, and are not intended to limit them in any way.

[0160] Example 1 The robot assembly includes two robotic arms and one stereo camera. The two robotic arms and the camera are individually connected to their corresponding motor units. Three motor units are present. Under working conditions, the working ends of the two robotic arms and the camera are inserted into the trocar to be placed into the body cavity of a patient undergoing surgical treatment. The insertion of the three working ends is performed sequentially, with the working end of the camera being inserted first, followed by the working ends of each robotic arm. Each working end is connected to its corresponding motor unit by a support tube that delivers one or more electrical components and one or more mechanical components. The stiffness of each support tube generates a force that drives the working end radially outward as it exits the trocar, and drives the portion of the support tube remaining inside the trocar's lumen against the inner wall of the trocar. The movement of the support tube against the inner wall creates sufficient cross-sectional area for the next working end to be inserted through the trocar. Each of the two robotic arms includes three rotary joints and four hinge joints. From the origin to the end effector, the sequence is: rotational joint, hinge joint, rotational joint, hinge joint, rotational joint, hinge joint, and hinge joint. This configuration of joints allows each of the robot arms to move with at least eight degrees of freedom. The effective elbow joints of the robot arms move independently of the end effector and the origin (shoulder). At least one joint of the robot arm includes a magnetic sensing system that measures the joint displacement of at least one joint at least partially. The magnetic sensing system includes an array of four magnets and four sensors. The first and second magnets are arranged in a first column, and the third and fourth magnets are arranged in a second column. The sensors are positioned in a plane substantially perpendicular to the columns of magnets. The magnets and sensors are positioned substantially near the periphery of the joint so as to allow for centrally located space for other components of the robot arm, such as cables. One of the joints of the robot arm includes a cable of a length that wraps around the shaft of the joint. As the joint moves, some of the cable's wraps fluctuate, changing from being tightly wrapped around the shaft to becoming looser against the joint's housing.Another joint of the robotic arm includes a cable of a length formed within the movable flexure. During joint movement, the movable flexure moves, and as the joint moves, the amount of movable flexure within a portion of the housing changes. By winding the cable and forming the movable flexure of the cable, the integrity of the cable is maintained and damage to the cable is prevented while allowing sufficient movement of the joint.

[0161] While embodiments of the present invention are shown and described herein, it will be apparent to those skilled in the art that such embodiments are presented only as examples. The present invention is not intended to be limited by the specific examples presented herein. Although the present invention is described with reference to the above specification, the descriptions and examples of embodiments herein are not meant to be constrained. Those skilled in the art will be able to conceive of numerous variations, modifications, and substitutions without departing from the present invention. Furthermore, it should be understood that all aspects of the present invention are not limited to the specific descriptions, configurations, or relative proportions described herein, which depend on various conditions and variables. It should be understood that various substitutes for the embodiments of the present invention described herein may be used when carrying out the present invention. Accordingly, it is assumed that the present invention also covers any such modifications, variations, and equivalents. The following claims define the scope of the present invention, and it is intended that methods and structures within the scope of these claims and their equivalents are thereby encompassed.

[0162] For the purposes of clarification and understanding, this disclosure is described in some detail, but by reading this disclosure it will be apparent to those skilled in the art that various modifications of form and detail are possible, as long as they do not exceed the true scope of this disclosure. For example, all of the technologies and apparatus described above can be used in various combinations. The publications, patents, patent applications and / or other documents cited in this application are incorporated by reference in whole for all purposes to the same extent that each individual publication, patent, patent application and / or other document is intended to be incorporated individually by reference for all purposes. [Additional note 1] A robotic arm, wherein the robotic arm is (i) A first section of the robot arm including the origin, (ii) A second section of the robot arm including the robot elbow joint, (iii) A third section of the robot arm including an end effector, It includes a plurality of joints connected sequentially from the origin of the robot arm to the end effector of the robot arm, so as to form Herein, a robot arm in which, by means of a joint located within the first section and a joint located within the third section, at least a portion of the second section can be moved independently of the movement of the origin or the end effector of the robot arm. [Additional note 2] The robotic elbow joint is a robotic arm as described in Appendix 1, including a hinge joint. [Additional note 3] The robotic arm as described in Appendix 1, wherein the plurality of joints include hinge joints, rotary joints, or combinations thereof. [Additional note 4] The robot arm according to Appendix 1, wherein the joint located within the first section includes a hinge joint. [Additional note 5] The robot arm according to Appendix 1, wherein the joint located within the third section includes a hinge joint. [Additional note 6] The robot arm according to Appendix 1, wherein the joint located within the first section and the joint located within the third section allow for the movement of at least a portion of the second section independently of the movement of the origin and the effector. [Additional note 7] The end effector is the robotic arm described in Appendix 1, including surgical instruments. [Additional note 8] The robotic arm according to Appendix 1, wherein the plurality of joints include at least three hinge joints. [Additional note 9] The robotic arm according to Appendix 1, wherein the plurality of joints include at least three rotational joints. [Additional Note 10] The robotic arm described in Appendix 1, wherein joint movement is performed by a motor unit. [Additional Note 11] Joint displacement is measured by a magnetic sensing system, as described in Appendix 1, for the robotic arm. [Additional Note 12] The magnetic sensing system is located within a portion of the joint of the robotic arm as described in Appendix 1. [Additional Note 13] The robot arm according to Appendix 1, wherein the robot arm has a range of motion of at least 8 degrees of freedom, by positioning the plurality of joints to form the robot arm. [Additional Note 14] The size of the robot arm is as described in Appendix 13, configured to be positioned within a body cavity. [Additional Note 15] The robotic arm according to Appendix 1, wherein the plurality of joints include a division of joints arranged in an alternating pattern of hinge joints and rotational joints. [Additional Note 16] The end effector is a robot arm as described in Appendix 1, which is directly connected to a hinge joint. [Additional Note 17] The robot arm according to Appendix 1, wherein the hinge joint is configured to rotate around an axis perpendicular to the longitudinal axis of the robot arm. [Additional Note 18] The robot arm according to Appendix 1, wherein the rotary joint is configured to move around the longitudinal axis of the robot arm. [Additional Note 19] The robotic arm described in Appendix 1, wherein the hinge joint is configured to move along a singular plane. [Additional Note 20] The robot arm according to Appendix 1, comprising a surgical robot assembly including a support tube, wherein the support tube is configured to connect with the robot arm, and at least a portion of the robot arm is configured to deliver the robot arm through the trocar such that it deflects outward when the portion of the robot arm exits the trocar. [Additional Note 21] A method, wherein the said method is A step of inserting multiple work ends of a robot assembly through a trocar, wherein a support tube operably connects a corresponding work end among the multiple work ends to a portion of the robot assembly located outside the trocar. A step of inserting at least a portion of the support tube into the trocar, wherein when the corresponding working end exits the trocar, at least a portion of the support tube moves radially outward toward a portion of the inner wall of the trocar; Methods that include... [Additional Note 22] The transition element is connected to the corresponding work end, as described in Appendix 21. [Additional note 23] The method according to appendix 22, wherein the proximal end of the transition element guides the corresponding working end radially outward when it exits the trocar. [Additional note 24] The method according to Appendix 21, wherein the rigidity of the support tube drives the support tube radially outward. [Additional note 25] The method according to Appendix 21, wherein the support tube is connected to an elastic element, and the elastic element drives the support tube radially outward. [Additional note 26] The elastic element is the method described in Appendix 25, including a spring. [Additional note 27] The method according to Appendix 21, wherein the plurality of work ends include at least two of the work ends of the camera, the work ends of the first robot arm, and the work ends of the second robot arm. [Additional note 28] The method according to Appendix 27, wherein the plurality of work ends include the work end of the camera, the work end of the first robot arm, and the work end of the second robot arm. [Additional note 29] The method according to Appendix 21, wherein at least a portion of the proximal end of the transition element includes a side that bends along at least a portion of its length. [Additional note 30] The method according to Appendix 21, wherein at least a portion of the distal end of the transition element includes a tapered end. [Additional note 31] The process of inserting the aforementioned multiple work ends is performed sequentially, as described in Appendix 21. [Additional note 32] The method according to Appendix 21, wherein the sequence of steps for inserting the plurality of work ends is at least partially based on the relative cross-sectional area of ​​each of the plurality of work ends. [Additional note 33] The method according to Appendix 21, wherein the insertion step includes individually inserting each of the plurality of work ends into the trocar. [Additional note 34] The method according to Appendix 21, wherein the insertion step is performed by one or more motor units connected to the robot assembly. [Additional note 35] The method according to Appendix 34, wherein the one or more motor units include a motor, a drive train, electronic components, or any combination thereof. [Additional note 36] The method according to appendix 34, wherein the one or more motor units include a mounting member configured to move the motor units in parallel so as to be substantially parallel to the axes of insertion of the plurality of work ends. [Additional note 37] The method according to Appendix 34, wherein each of the plurality of work ends is connected to a corresponding motor unit. [Additional note 38] The method according to Appendix 21, wherein the support tube includes a mechanical power element, an electrical power element, or a combination thereof. [Additional note 39] The method according to Appendix 21, wherein one or more working ends are inserted into a body cavity via the trocar, and the trocar maintains airflow into the body cavity. [Additional note 40] The method according to Appendix 28, further comprising the step of positioning the working end of the camera between the working end of the first robot arm and the working end of the second robot arm. [Additional note 41] The method according to Appendix 40, wherein the working end of the camera is located substantially equidistant from the working end of the first robot arm and the working end of the second robot arm. [Additional note 42] The positioning step is performed by one or more motor units, as described in Appendix 40. [Additional note 43] The camera is a stereo camera, as described in Appendix 40. [Additional note 44] The method according to Appendix 21, wherein a portion of the robot assembly is connected to the trocar. [Additional note 45] The method according to Appendix 21, further comprising the step of removing the plurality of work ends by placing them back into the trocar. [Additional note 46] The transition element, when placed back into the trocar, guides the working end radially inward, as described in Appendix 45. [Additional note 47] The method according to Appendix 21, further comprising the step of individually adjusting the relative depth of one of the plurality of work ends. [Additional note 48] A robot joint including a magnetic sensing system, wherein the magnetic sensing system is (a) Arrangement of magnets that form a magnetic field, (b) an array of sensors configured to measure changes in at least a portion of the magnetic field, Includes, The aforementioned change corresponds to the displacement of the robot joint. [Additional note 49] The robot joint according to Appendix 48, wherein the arrangement of magnets includes two or more magnets that substantially form a magnetic column. [Additional Note 50] The robot joint according to Appendix 49, wherein the two or more magnets are positioned in an NS,NS or SN,SN dipole arrangement. [Additional Note 51] The robot joint according to Appendix 48, wherein the arrangement of magnets includes a first magnetic column and a second magnetic column. [Additional note 52] The robot joint according to Appendix 51, wherein the magnetization direction of the magnets in the first magnetic column has a dipole arrangement opposite to that of the magnets in the second magnetic column. [Additional note 53] The robot joint according to Appendix 51, wherein the magnetization direction of the magnets in the first magnetic column has the same dipole arrangement as the magnets in the second magnetic column. [Additional note 54] The robot joint according to Appendix 48, wherein the array of sensors is located on or near a plane substantially perpendicular to the array of magnets. [Additional note 55] A substantially perpendicular plane is located between the first magnet and the second magnet, and the first magnet and the second magnet form a magnetic column, as described in Appendix 48, for the robot joint. [Additional note 56] The robot joint according to Appendix 48, wherein the arrangement of magnets and the arrangement of sensors are located substantially proximal to the periphery of the robot joint. [Additional note 57] The robot joint according to Appendix 48, wherein the magnetic sensing system measures the displacement of the robot joint with higher resolution compared to an equivalent robot joint without the arrangement of magnets and the arrangement of sensors. [Additional note 58] The robot joint according to Appendix 48, wherein the arrangement of magnets includes a set of magnets located in separate spatial quadrants of the magnetic sensing system. [Additional note 59] The robot joint described in Appendix 58, wherein the first magnet of the set includes a magnetization direction that is aligned with the second magnet located in the diagonally opposite quadrant. [Additional note 60] The robot joint according to Appendix 58, wherein the first magnet of the column is located in the first quadrant, and the second magnet of the column is located in the second quadrant. [Additional note 61] The robot joint as described in Appendix 48, wherein the magnetic field includes orthogonal magnetic field components, parallel magnetic field components, non-parallel magnetic field components, or any combination thereof. [Additional note 62] One of the magnets in the robot joint described in Appendix 48 includes neodymium, iron, or any combination thereof. [Additional note 63] One of the magnets is an electromagnet, as described in Appendix 48, for the robot joint. [Additional note 64] The robotic arm is a robotic joint as described in Appendix 48, including a cable-driven robotic arm. [Additional note 65] The arrangement of magnets includes at least four magnets, as described in Appendix 48, for the robot joint. [Additional note 66] The aforementioned sensor array is a robot joint as described in Appendix 48, including a sensor array. [Additional note 67] The sensor array includes at least two sensors, as described in Appendix 48, for the robot joint. [Additional note 68] A robotic arm, including the robotic joints specified in Appendix 48. [Additional note 69] A robotic arm comprising a plurality of robotic joints, wherein each of the plurality of robotic joints comprises a robotic joint as specified in Appendix 48. [Additional note 70] A robotic arm including joints, wherein the joints are Including a portion of the telecommunications component, the portion is associated with the first and second portions of the joint, and the portion is (a) Wrapped around the axis of the joint, some of the wrappings of the portion vary in proportion to the movement of the joint, or (b) A robotic arm that extends to form a movable flex, and during the operation of the joint, the movable flex moves relative to the first and second parts. [Additional note 71] The robot arm according to appendix 70, wherein the portion extends to form the movable bend, and the movable bend is located within a channel of the housing of the joint and moves within the channel. [Additional note 72] The robot arm according to appendix 71, wherein the channel is located outside the central axis of the joint. [Additional note 73] (i) In the first range of motion of the joint, the minimum amount of movement and flexion is located within the channel, and (ii) In the second range of motion of the joint, the maximum amount of movement and flexion is located within the channel, as described in Appendix 71. [Additional note 74] The robot arm further includes a pin, as described in Appendix 71. [Additional note 75] The robotic arm according to Appendix 74, wherein a portion of the joint is configured to operate as a cam, and the pin is configured to operate as a cam follower. [Additional note 76] The robot arm according to appendix 70, further comprising an elastic element connected to the telecommunications component. [Additional note 77] The robot arm according to Appendix 76, wherein the elastic element includes a spring or an elastic band. [Additional note 78] The robot arm according to Appendix 77, wherein the elastic element includes a spring that is a constant force spring. [Additional note 79] The robotic arm according to Appendix 70, wherein the aforementioned portion is wrapped around the axis of the joint, and the joint includes a rotary joint. [Additional note 80] The robotic arm according to Appendix 70, wherein the aforementioned portion extends to form the movable flex, and the joint includes a hinge joint. [Additional note 81] The relationship between the first position of the joint, the second position of the joint, or a combination thereof, is fixed to the robot arm as described in Appendix 70. [Additional note 82] The robotic arm according to appendix 70, wherein the aforementioned portion is wrapped around the axis of the joint to form at least partially a helical coil. [Additional note 83] The robotic arm according to Appendix 70, wherein the aforementioned portion is wrapped around the axis of the joint, and some of the wrappings are located between the housing and the shaft of the joint. [Additional note 84] (i) In the first range of motion of the joint, the number of wraps is maximized and the portion is wrapped around the shaft; (ii) In the second range of motion of the joint, the number of wraps is minimized and the portion is extended against the housing, as described in Appendix 83. [Additional note 85] The aforementioned telecommunications component operably connects the end effector and control system of the robot arm, as described in Appendix 70. [Additional note 86] The robot arm according to Appendix 70, wherein the telecommunications component is configured to transmit one or more electrical signals to or from a portion of the robot arm. [Additional note 87] The robotic arm according to appendix 70, wherein the aforementioned portion is configured to move in relation to the movement of the joint. [Additional note 88] The robotic arm according to Appendix 70, wherein the portion is configured to substantially maintain the radius of curvature during movement of the joint. [Additional note 89] The robot arm according to Appendix 70, wherein the robot arm includes a stopping element to limit the range of motion of the robot arm. [Additional Note 90] The robot arm according to appendix 70, further comprising a coating or film covering at least a portion of the telecommunications component. [Additional Note 91] The coating or film, including a lubricant, is for the robot arm as described in Appendix 70.

Claims

1. It is a robotic surgical system, A first robot arm connected to a first support tube, wherein the first robot arm has a cross-sectional area larger than the cross-sectional area of ​​the first support tube, A second robot arm connected to a second support tube, wherein the second robot arm has a cross-sectional area larger than the cross-sectional area of ​​the second support tube, A robot camera connected to a third support tube, wherein the robot camera has a cross-sectional area larger than the cross-sectional area of ​​the third support tube, Equipped with, The combined cross-sectional area of ​​the first support tube, the second support tube, and the third support tube is smaller than the cross-sectional area of ​​the lumen of the trocar. The combined cross-sectional area of ​​the first robot arm, the second robot arm, and the robot camera is greater than the cross-sectional area of ​​the lumen of the trocar. A robotic surgical system in which the continuous insertion of the trocar of the robotic camera and the first robotic arm and the second robotic arm into the lumen enables the insertion of the robotic camera and the first robotic arm and the second robotic arm into the body cavity via the trocar.

2. The robotic surgical system according to claim 1, wherein the first support tube and the second support tube have an elliptical cross-section.

3. The robotic surgical system according to claim 2, wherein the outer curvature of the first support tube and the second support tube substantially coincides with the inner curvature of the lumen of the trocar.

4. The robotic surgical system according to claim 2, wherein the outer curvature of the third support tube substantially coincides with the inner curvature of the lumen of the trocar.

5. The robotic surgical system according to claim 1, wherein the third support tube occupies a portion of the cross-sectional area of ​​the lumen of the trocar when the robotic camera is fully inserted through the trocar, and the trocar leaves a sufficiently large cross-sectional area of ​​the lumen of the trocar to allow the first robotic arm and the second robotic arm to pass through the lumen of the trocar.

6. The robotic surgical system according to claim 1, wherein the first support tube, the second support tube, and the third support tube are hollow.

7. The robotic surgical system according to claim 1, wherein the outer diameter of the robotic camera is smaller than the inner diameter of the lumen of the trocar.

8. The robotic surgical system according to claim 7, wherein the outer diameter of the robotic camera is smaller than the inner diameter of the lumen of the trocar and larger than the outer diameters of the first robotic arm and the second robotic arm.

9. The robotic surgical system according to claim 1, wherein the first support tube, the second support tube, and the third support tube operably connect the first robotic arm, the second robotic arm, and the robotic camera to a portion of the robotic surgical system located outside the trocar, respectively.

10. The robotic surgical system according to claim 1, wherein the first support tube, the second support tube, and the third support tube are provided with conduits for drive cables.

11. The robotic surgical system according to claim 1, wherein the cross-sectional area of ​​the first support tube and the cross-sectional area of ​​the second support tube are substantially the same.

12. The robotic surgical system according to claim 11, wherein the cross-sectional area of ​​the first support tube or the cross-sectional area of ​​the second support tube is greater than the cross-sectional area of ​​the third support tube.

13. The robotic surgical system according to claim 12, wherein the cross-sectional area of ​​the robotic camera is greater than the cross-sectional area of ​​the first robotic arm or the cross-sectional area of ​​the second robotic arm.

14. The robotic surgical system according to claim 5, wherein the third support tube occupies a first portion of the cross-sectional area of ​​the lumen of the trocar when the robotic camera is fully inserted through the trocar, and the first support tube occupies a second portion of the cross-sectional area of ​​the lumen of the trocar when the first robotic arm is fully inserted through the trocar, leaving a sufficiently large cross-sectional area of ​​the lumen of the trocar to allow the second robotic arm to pass through the lumen of the trocar into which the third support tube and the first support tube are inserted.

15. The robotic surgical system according to claim 1, wherein the insertion order of the first robotic arm, the second robotic arm, and the robotic camera into the lumen of the trocar is at least partially based on the relative cross-sectional areas of the first robotic arm, the second robotic arm, and the robotic camera, respectively.

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