Robot-assisted surgical systems and related devices and methods

Abstract

To provide various medical devices and related structural elements capable of configuring a surgical system including a robot and / or a medical device in a living body and related structural elements.SOLUTION: A robotic surgical system includes a robotic device 40, and removable coupleable connection ports, each of which can be coupled to a camera assembly 44 disposed in and through the robotic device. Also, the system is provided with removable connection ports having at least one of an elongate device body coupling mechanism, a camera assembly coupling mechanism, and / or a presence detection mechanism. Furthermore, the system includes a camera assembly with at least one actuation mechanism for actuating movements of a steerable distal tip thereof.SELECTED DRAWING: Figure 2

Description

Technical Field

[0004] ,

[0001] Cross - Reference to Related Applications This application claims the benefit under 35 U.S.C.§119(e) of U.S. Provisional Application No. 6,278,9029, entitled "Robot - Assisted Surgical System", filed on January 7, 2019, the entire disclosure of which is hereby incorporated by reference in its entirety.

[0002] The embodiments disclosed herein relate to various medical devices and related components that can constitute a surgical system, including robots and / or medical devices within a living body and related components. Certain embodiments include various robotic medical devices that use a body or support component disposed within a body cavity and positioned through an orifice or opening within the body cavity. Other embodiments relate to various systems having robotic surgical devices and controllers. The device has one or more sensors such that the sensors transmit information used by the controller to actuate motors and provide haptic feedback to the user, and the controller has one or more motors.

Background Art

[0003] Invasive surgical procedures are essential for addressing various medical conditions. Minimally invasive surgeries, such as laparoscopy, are recommended if possible. However, known minimally invasive techniques, such as laparoscopy, are limited in scope and complexity due to 1) limited mobility resulting from the use of rigid tools inserted through access ports, and 2) limited visual feedback. Known robotic systems, such as the da Vinci® Surgical System (available from Intuitive Surgical, Inc., Sunnyvale, California), not only are limited by access ports but also have the additional drawbacks of being very large, very expensive, not available in most hospitals, and having limited sensory and mobility capabilities

[0004] In this field, improved surgical methods, systems, and devices are needed. [Overview of the project]

[0005] This specification discusses various robotic surgical systems having various robotic devices. Certain robotic devices have connectable connection ports (also called “nests”) that receive and connect various camera assemblies. The various connection ports described herein may have therein a connection mechanism for connecting to the robotic device and / or camera assemblies. Furthermore, certain ports also have presence detection mechanisms. Further discussed herein are camera assemblies with an actuation mechanism for actinguating the movement of their operable distal tip.

[0006] In Example 1, the robotic surgical system includes a robotic surgical apparatus and a removable camera component. The robotic surgical apparatus includes an elongated apparatus body including a distal end and a proximal end, a removable connection port located at the proximal end of the apparatus body, and first and second robotic arms operably connected to the distal end of the apparatus body. The connection port includes an apparatus body connection mechanism located within the connection port, a camera receiving opening defined at the proximal end of the connection port, a seal package located within the removable connection port, the seal package including at least two seals, and the camera connection mechanism located within the removable connection port. The removable camera component is removable and disposable through the camera receiving opening and the seal package, and the removable camera component includes a camera body, an elongated camera tube, a flexible section, and a distal imager.

[0007] Example 2 relates to the robotic surgical system according to Example 1, wherein the device body coupling mechanism includes first and second hinged coupling mechanisms that are hinged to the connection port. Embodiment 3 relates to the robotic surgical system described in Embodiment 2, wherein each of the first and second hinged coupling mechanisms includes a coupling mechanism body, a tension hinge located at the proximal end of the coupling mechanism body which is hinged to a connection port, and a coupling structure located at the distal end of the coupling mechanism which includes at least one coupling function configured to be coupling to a matching coupling function and an operable button located at the proximal end of the device body.

[0008] Example 4 relates to the robotic surgical system according to Example 1, wherein the elongated device body includes a male connector located at the proximal end of the elongated device body, and the male connector is connectable to a connection port.

[0009] Example 5 relates to the robotic surgical system according to Example 1, further comprising a removable connection port and a presence detection mechanism operably connected to a camera coupling mechanism. Embodiment 6 relates to the robotic surgical system according to Embodiment 1, wherein the camera coupling mechanism includes a slidable body disposed within a connection port, a camera receiving opening defined within the slidable body, an operable camera release button attached to a first end of the slidable body, and a tension spring operablely coupled to a second end of the slidable body.

[0010] Example 7 relates to the robotic surgical system according to Example 6, wherein the sliding body is slidable along a plane substantially perpendicular to the longitudinal axis of the elongated device body. Embodiment 8 relates to the robotic surgical system according to Embodiment 1 and further includes a presence detection mechanism comprising: a rotatable lever operably connected to a camera coupling mechanism at a pivot point, the rotatable lever rotating around a pivot point; a first sensing component positioned on the rotatable lever; and a second sensing component positioned on an elongated body, configured to sense the presence or absence of the first sensing component.

[0011] Example 9 relates to the robotic surgical system according to Example 8, wherein the first sensing component is a magnet. In Example 10, the removable connection port for the robotic surgical apparatus includes a connection port body, a distal opening defined at the distal end of the port body which is sized and shaped to receive the proximal end of an elongated apparatus body, a proximal opening defined at the proximal end of the port body which is sized and shaped to receive a camera assembly, a seal package disposed on the connection port body which includes at least two seals configured to receive the shaft of the camera assembly, an apparatus body coupling mechanism disposed within the connection port body which includes first and second hinged coupling mechanisms hinged to the connection port body, and a camera coupling mechanism disposed within the connection port body. The camera coupling mechanism includes a slidable body disposed within the connection port body and a camera receiving opening defined within the slidable body.

[0012] Embodiment 11 relates to a removable connection port according to Embodiment 10, wherein each of the first and second hinged connection mechanisms includes a connection mechanism body, a tension hinge located at the proximal end of the connection mechanism body which is hinged to the connection port body, and a connectable structure located at the distal end of the connection mechanism which includes at least one connection function configured to be connectable to a matching connection function and an operable button located at the proximal end of an elongated device body.

[0013] Example 12 relates to the removable connection port according to Example 10, wherein the distal opening is sized and shaped to receive a male connector located at the proximal end of the elongated device body.

[0014] Example 13 further includes a presence detection mechanism operably connected to a camera coupling mechanism, relating to the detachable connection port according to Example 10. Embodiment 14 relates to a detachable connection port according to Embodiment 10, wherein the camera coupling mechanism further includes an operable camera release button attached to a first end of a sliding body and a tension spring operably coupled to a second end of the sliding body.

[0015] Example 15 relates to a removable connection port according to Example 10, wherein the sliding body is slidable along a plane substantially transverse to the longitudinal axis of the lumen of the seal package.

[0016] Embodiment 16 relates to the removable connection port according to Embodiment 10 and further includes a presence detection mechanism comprising a rotatable lever operably connected to a camera coupling mechanism at a pivot point, the rotatable lever rotating around a pivot point, and a first sensing component positioned on the rotatable lever, the first sensing component configured to interact with a second sensing component positioned on an elongated device body when the removable connection port is connected to an elongated device body.

[0017] Example 17 relates to a detachable connection port according to Example 16, wherein the first sensing component is a magnet. In Example 18, the robotic surgical system includes a robotic surgical apparatus and a removable camera component. The robotic surgical apparatus includes an elongated apparatus body including a distal end and a proximal end, a removable connection port located at the proximal end of the apparatus body, and first and second robotic arms operably connected to the distal end of the apparatus body. The connection port includes an apparatus body coupling mechanism located within the connection port, comprising first and second hinged coupling mechanisms hinged to the connection port, a camera receiving opening defined at the proximal end of the connection port, a seal package located within the removable connection port, comprising at least two seals, a camera coupling mechanism located within the removable connection port, and a presence detection mechanism operably connected to the camera coupling mechanism. The camera coupling mechanism includes a slidable body slidably located within the connection port, a camera receiving opening defined within the slidable body, an operable camera release button attached to the first end of the slidable body, and a tension spring operably connected to the second end of the slidable body. The presence detection mechanism includes a rotatable lever operably connected to a camera coupling mechanism at a pivot point, the rotatable lever rotating around the pivot point, a first sensing component positioned on the rotatable lever, and a second sensing component positioned on an elongated body, configured to sense the presence or absence of the first sensing component. The removable camera component is removable and disposable through a camera receiving opening and a sealed package, and the removable camera component includes a camera body, an elongated camera tube, a flexible section, and a distal imager.

[0018] Example 19 relates to the robotic surgical system described in Example 18, wherein each of the first and second hinged coupling mechanisms includes a coupling mechanism body, a tension hinge located at the proximal end of the coupling mechanism body which is hinged to a connection port, and a coupling structure located at the distal end of the coupling mechanism which includes at least one coupling function configured to be coupling to a matching coupling function and an operable button located at the proximal end of the device body.

[0019] Example 20 relates to the robotic surgical system according to Example 18, wherein the sliding body is slidable along a plane substantially transverse to the longitudinal axis of the lumen defined by at least two seals in the seal package.

[0020] In Example 21, the camera assembly for a robotic surgical system includes an elongated camera shaft, a camera body connected to the proximal end of the elongated camera shaft, a steerable tip located at the distal end of the elongated camera shaft, a first cable connected at a first end to a first drive carriage and at a second end to the steerable tip, and a second cable connected at a first end to a second drive carriage and at a second end to the steerable tip. The camera body includes a distal end configured to be housed within a robotic device, and at least one actuation mechanism housed within the camera body. The distal end includes a distal nose cone housed around the elongated shaft and a coupling mechanism receiving slot defined proximal to the distal nose cone. The at least one actuation mechanism includes a rotatable shaft, a first drive carriage screwably connected to the rotatable shaft, and a second drive carriage threadable onto the rotatable shaft. The controllable tip includes a controllable tip body containing a camera imager and lighting components, and a flexible section connected to an elongated camera shaft and the controllable tip body, wherein the controllable tip body is movable relative to the elongated camera shaft via the flexibility of the flexible section. Furthermore, the operation of the actuation mechanism causes linear movement of first and second drive carriages in opposite directions, thereby allowing first and second cables to control the controllable tip.

[0021] Example 21 relates to a camera assembly according to Example 21, wherein the camera body further includes an external housing and a cylindrical heat sink structure, and the cylindrical heat sink structure is disposed within the external housing.

[0022] While several embodiments are disclosed, further embodiments will become apparent to those skilled in the art from the following detailed description illustrating and describing exemplary embodiments. Various embodiments can be modified in various obvious ways without departing from their spirit and scope, as realized. Therefore, the drawings and detailed description should be considered illustrative and not limiting.

Brief Description of the Drawings

[0023] [Figure 1] It is a perspective view of a robotic surgical system in an operating room according to an embodiment. [Figure 2] It is a perspective view of a robotic device according to an embodiment. [Figure 3A] It is another perspective view of the robotic device of FIG. 2 according to an embodiment. [Figure 3B] It is a perspective view of a camera insertable into the robotic device of FIG. 3A according to an embodiment. [Figure 3C] It is an enlarged perspective view of the distal end of the robotic device of FIG. 2 and the robotic arm according to an embodiment. [Figure 4A] It is an enlarged perspective view of the distal end of another robotic device and the robotic arm according to another embodiment. [Figure 4B] It is another enlarged perspective view of the distal end of the robotic device of FIG. 4A and the robotic arm according to an embodiment. [Figure 5A] It is a perspective view of a robotic device attached to a support arm connected to an operating table according to an embodiment. [Figure 5B] It is an enlarged perspective view of the device clamp and the robotic device of FIG. 5A according to an embodiment. [Figure 6] It is a schematic perspective view of a robotic device and a camera component that is not positioned within the device but is instead operated via a separate port of a patient according to an embodiment. [Figure 7] It is an enlarged perspective view of the console of the surgical system of FIG. 1 according to an embodiment. [Figure 8A] It is a side view of a camera assembly according to an embodiment. [Figure 8B] It is a front view of the camera assembly of FIG. 8A according to an embodiment. [Figure 9A] It is an enlarged side view of the camera body of the camera assembly of FIG. 8A according to an embodiment. [Figure 9B] It is an enlarged cross-sectional side view of the camera body of FIG. 9A according to an embodiment. [Figure 9C] This is an enlarged cross-sectional view of the distal end of the camera body shown in Figure 9A, according to one embodiment. [Figure 10A] This is a cross-sectional side view of the internal components of the camera body shown in Figure 9A, according to one embodiment. [Figure 10B] This is a cross-sectional front view of the internal components of the camera body shown in Figure 9A, according to one embodiment. [Figure 10C] This is a perspective view of the operating mechanism of the camera body shown in Figure 9A, according to one embodiment. [Figure 10D] This is a perspective view of the lead screw of the operating mechanism shown in Figure 10C, according to one embodiment. [Figure 10E] This is a cross-section of a specific component of the operating mechanism shown in Figure 10C, according to one embodiment. [Figure 10F] This is a cross-section of a specific component of the camera body shown in Figure 9A, according to one embodiment. [Figure 11A] This is a perspective view of a robotic device according to one embodiment, comprising an elongated body, a robotic arm, and a nest connectable thereto. [Figure 11B] Figure 11 is a perspective view showing a robotic device according to one embodiment, which includes a nest and a camera connected thereto, along with an enlarged view of the nest itself. [Figure 12A] Figure 11B shows a perspective cutaway of a nest and a seal package placed therein, according to one embodiment. [Figure 12B] This is a cross-sectional view showing the seal package of Figure 12A according to one embodiment, along with an enlarged view of the two seals placed inside it. [Figure 13] This is a cross-sectional view of the proximal end of the device body to which the nest shown in Figure 11B is attached and to which a camera is positioned, according to one embodiment. [Figure 14A] Figure 11B shows a cross-section of a nest and the two latches arranged within it, according to one embodiment. [Figure 14B] This is a perspective view of one of the latches shown in Figure 14A according to one embodiment. [Figure 15A]This is a side view of the nest shown in Figure 11B, which is positioned adjacent to the proximal end of the robot device body shown in Figure 11A according to one embodiment. [Figure 15B] This is a side view of the nest and the main body of the device shown in Figure 15A, which are connected together according to one embodiment. [Figure 16A] This is a side view of the nest shown in Figure 11B, which is positioned adjacent to the male connector of the device body shown in Figure 11A according to one embodiment. [Figure 16B] This is a perspective view enlarged of one latch of the nest in Figure 16A, which is connected to the male connector in Figure 16A according to one embodiment. [Figure 17A] This is a side view of the nest shown in Figure 11B, which is positioned adjacent to the male connector of the device body shown in Figure 11A according to one embodiment. [Figure 17B] This is a side view of the nest and male connector shown in Figure 17A, which are connected together according to one embodiment. [Figure 18] This is a perspective view of the nest shown in Figure 11B, in which a camera linking mechanism is arranged according to one embodiment. [Figure 19A] Figure 18 is a side cross-sectional view of the nest and camera coupling mechanism, in which the camera according to one embodiment has not yet been connected to the nest. [Figure 19B] Figure 18 is a side cross-sectional view of the nest and camera coupling mechanism, in which a camera according to one embodiment is biased to a fully coupled position within the nest, but is not yet fully coupled. [Figure 19C] Figure 18 is a side cross-sectional view of a nest and camera coupling mechanism in which a camera according to one embodiment is fully connected to the nest. [Figure 20] This is a perspective view of a nest of Figure 11B, which is equipped with an existence detection mechanism located within it, according to one embodiment. [Figure 21] This is a side cross-sectional view of the nest and presence detection mechanism of Figure 20, according to one embodiment, where the camera is not yet connected to the nest. [Figure 22] Figure 20 is a side cross-sectional view of a nest and presence detection mechanism, in which a camera is connected to the nest according to one embodiment. [Figure 23] This is a side cross-sectional view of the nesting and presence detection mechanism shown in Figure 20, with the camera linking mechanism button pressed, according to one embodiment. [Figure 24] This is a cross-sectional view of the front arm according to one embodiment. [Figure 25] This is a perspective view of the front arm shown in Figure 24, according to one embodiment. [Figure 26] This is a cross-sectional view of an upper arm connected to the main body of the device by a shoulder joint, according to one embodiment. [Figure 27] This is a cross-sectional view of the proximal end of the device body shown in Figure 26, according to one embodiment. [Modes for carrying out the invention]

[0024] The various systems and devices disclosed herein relate to devices for use in medical procedures and systems. More specifically, the various embodiments relate to various medical devices, including robotic devices and related methods and systems.

[0025] Various embodiments of robotic devices and related methods and systems disclosed herein may be incorporated into or used in conjunction with any other known medical devices, systems, and methods.

[0026] Various embodiments of robotic devices and related methods and systems disclosed herein may be incorporated into or used in conjunction with any other known medical devices, systems, and methods. For example, various embodiments disclosed herein are recognized by U.S. Patent No. 8,968,332 (issued March 3, 2015, titled “Magnetically Coupling Robotic Device and Related Method”), U.S. Patent No. 8,834,488 (issued September 16, 2014, titled “Magnetically Coupling Surgical Robotic Device and Related Method”), U.S. Patent No. 10,307,199 (issued June 4, 2019, titled “Robot Surgical Device and Related Method”), U.S. Patent No. 9 U.S. Patent No. 579,088 (issued on February 28, 2017, titled "Method, System, and Apparatus for Surgical Visualization and Apparatus Manipulation"), U.S. Patent Application No. 61 / 030,588 (filed on February 22, 2008), U.S. Patent No. 8,343,171 (issued on January 1, 2013, titled "Method and System of Actuation in a Robotic Device"), U.S. Patent No. 8,828,024 (issued on September 9, 2014, titled "Method and System of Actuation in a Robotic Device") U.S. Patent No. 9,956,043 (issued May 1, 2018, titled "Method and System of Actuation in a Robotic Device"), U.S. 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15 / 894,489 (filed February 12, 2018, titled "Methods, Systems, and Apparatus Related to Force-Controlled Surgical Systems"), U.S. Patent Application No. 14 / 212,686 (filed March 14, 2014, titled "Robot Surgical Apparatus, System, and Related Methods"), U.S. Patent Application No. 14 / 334,U.S. Patent No. 383 (filed July 17, 2014, "Robot Surgical Apparatus, System, and Related Method"), U.S. Patent Application No. 14 / 853,477 (filed September 14, 2015, titled "Quick-Release End Effector and Related System and Method"), U.S. Patent Application No. 16 / 504,793 (filed July 8, 2019, titled "Quick-Release End Effector and Related System and Method"), U.S. Patent No. 10,376,322 (issued August 13, 2019, titled "Compact Joint U.S. Patent Application No. 16 / 538,902 (filed August 13, 2019, titled "Robot Apparatus with Compact Joint Design and Related Systems and Methods"), U.S. Patent Application No. 15 / 227,813 (filed August 3, 2016, titled "Robot Surgical Apparatus, System and Related Methods"), U.S. Patent Application No. 15 / 599,231 (filed May 18, 2017, titled "Robot Surgical Apparatus, System and Related Methods"), U.S. Patent Application No. U.S. Patent Application No. 15 / 687,113 (filed on 25 August 2017, titled "Quick-Release End Effector Tool Interface"), U.S. Patent Application No. 15 / 691,087 (filed on 30 August 2017, titled "Robot Apparatus with Compact Joint Design and Additional Degrees of Freedom and Related Systems and Methods"), U.S. Patent Application No. 15 / 821,169 (filed on 22 November 2017, titled "Gross Positioning Apparatus and Related Systems and Methods"), U.S. Patent Application No. 15 / 826,166 (201 U.S. Patent Application No. 15 / 842,230 (filed November 29, 2017, titled "User Controller with User Presence Detection and Related Systems and Methods"), U.S. Patent Application No. 16 / 144,807 (filed September 27, 2018, titled "Robotic Surgical Apparatus and Related Systems and Methods with Tracking Camera Technology"), U.S. Patent Application No. 16 / 241,U.S. Patent No. 263 (filed on 7 January 2019, titled “Single Manipulator Robot Apparatus with Compact Joint Design and Related Systems and Methods”), U.S. Patent No. 7,492,116 (filed on 31 October 2007, titled “Surgical Robot”), U.S. Patent No. 7,772,796 (filed on 3 April 2007, titled “Surgical Robot”), and U.S. Patent No. 8,179,073 (issued on 15 May 2011, titled “Robot Apparatus with Agent Delivery Components and Related Methods”), all of which are incorporated herein by reference in their entirety.

[0027] Implementations of the specific devices and systems disclosed in the above uses may be placed in a patient's body cavity, or parts of the devices may be positioned within a body cavity, in combination with support components similar to those disclosed herein. As used herein, “in vivo device” means any device that can be at least partially positioned, operated or controlled by a user while positioned within a patient's body cavity, and includes any device connected to support components such as rods or other such components positioned through an opening or orifice of a body cavity, and also includes any device positioned substantially or adjacent to the wall of a patient's body cavity, and further includes such devices that operate internally (without an external power source), and further includes any device that may be used laparoscopically or endoscopically during a surgical procedure. As used herein, the terms “robot” and “robot device” mean any device that can perform tasks automatically or in response to commands.

[0028] Certain embodiments provide insertion of the present invention into a cavity while maintaining sufficient airflow to the cavity. Further embodiments minimize physical contact between the surgeon or surgical user and the present invention during the insertion process. Other implementations enhance patient safety and the safety of the insertion process of the present invention. For example, some embodiments provide visualization of the present invention being inserted into the patient's cavity to ensure that no damaging contact occurs between the system / device and the patient. Furthermore, certain embodiments allow for minimization of the size / length of the incision. Other implementations include devices that can be inserted into the body through an incision or a natural orifice. Further implementations reduce the complexity of the access / insertion procedure and / or the steps required for the procedure. Other embodiments relate to devices having a minimal profile, minimal size, or generally having minimal function and appearance to enhance ease of handling and use.

[0029] Similar to manual laparoscopy, sterile carbon dioxide (or other gases) can be delivered into the patient's abdominal cavity using a known inhalation system. This lifts the abdominal wall away from the organs, creating space for the robot. In certain implementations, the system does not have a direct interface with the inhalation system. Alternatively, the system may have a direct interface with the inhalation system.

[0030] In certain implementations where the device is inserted through an insertion port, the insertion port is a known, commercially available flexible membrane positioned transabdominally to seal and protect the abdominal incision. This off-the-shelf component is the same or substantially the same device used in substantially the same manner in hand-assisted laparoscopic surgery (HALS). The only difference is that the arm of the robotic device in the various embodiments herein is inserted into the abdominal cavity through the insertion port rather than the surgeon's hand. The body of the robotic device seals against the insertion port when positioned through it, thereby maintaining the blown pressure. The port is disposable for single use, or any known port can be used. In further alternatives, the device may be inserted through an incision without a port or through a natural orifice.

[0031] The specific implementations disclosed herein relate to “combination” or “modular” medical devices that can be assembled in various configurations. For the purposes of this application, both “combination device” and “modular device” mean a medical device having modular or interchangeable components that can be arranged in various different configurations.

[0032] Certain embodiments disclosed or contemplated herein can be used in surgical procedures performed to treat patients with lower gastrointestinal diseases such as colectomy, diverticulitis, Crohn's disease, inflammatory bowel disease, and colon cancer. Approximately two-thirds of known colectomies are performed by fully open surgical procedures involving an 8- to 12-inch incision and a recovery time of up to six weeks. Due to the complexity of the procedure, existing robot-assisted surgical devices are rarely used in colectomy, and manual laparoscopic approaches are used in only one-third of cases. In contrast, the various implementations disclosed herein can be used as minimally invasive approaches to various procedures that are typically performed “open” by known technologies, with the potential to improve clinical outcomes and healthcare costs. Furthermore, the various implementations disclosed herein can be used in any laparoscopic surgical procedure as a substitute for known mainframe-like laparoscopic surgical robots that enter the body from outside the patient. That is, the less invasive robotic systems, methods, and devices disclosed herein feature small, self-contained surgical devices that are inserted entirely through a single incision in the patient's abdomen. Designed to utilize existing tools and techniques familiar to surgeons, the devices disclosed herein do not require a dedicated operating room or special infrastructure and are expected to be significantly less expensive than existing robotic alternatives for laparoscopic surgery due to their much smaller size. These technological advancements may enable the various embodiments described herein to provide a minimally invasive approach to procedures performed in open surgery today.

[0033] Figure 1 shows one embodiment of a robotic surgical system 10 having several components, which will be described in more detail below. Components of various system implementations disclosed or contemplated herein may include an external control console 16 and a robotic device 12 having a removable camera 14, as will be described in more detail below. According to the implementation of Figure 1, the robotic device 12 is shown mounted on the operating table 18 via a known commercially available support arm 20. In a particular implementation, the system 10 may be operated by a surgeon 22 at the console 16 and by one surgical assistant 24 positioned on the operating table 18. Alternatively, one surgeon 22 may operate the entire system 10. In further alternatives, three or more people may be involved in the operation of the system 10. Furthermore, it is understood that the surgeon (or user) 22 may be located at a distance from the operating table 18, so that the surgeon 22 may be in a different city or country or on a different continent from the patient on the operating table 18.

[0034] In this particular implementation, the robotic device 12 with the camera 14 is connected to the surgical console 16 via cables, device cable 24A and camera cable 24B, which are described in more detail below. Alternatively, any connection configuration can be used. In certain implementations, the system may also interact with other devices during use, such as electrosurgical generators, insertion ports, and auxiliary monitors.

[0035] Figure 2 shows one exemplary implementation of a robotic device 40 that can be incorporated into the exemplary system 10 discussed above, or any other system disclosed or intended herein. The device 40 has a body (or "torso") 42 having a distal end 42A and a proximal end 42B, through which an imaging device (or "camera") 44 is positioned, as described above and in further detail below. Briefly, the robotic device 40 has two robotic arms 46, 48 operably connected to it, and the camera 44 is detachably positioned through the body 42 and positioned between the two arms 46, 48. That is, the device 40 has a first (or "right") arm 46 and a second (or "left") arm 48, both of which are operably connected to the device 40, as described in further detail below. In this embodiment, the body 42 of the shown device 40 has a housing (also called a "cover" or "casing") 52 such that the internal components and cavities of the body 42 are housed within the housing 52. The device body 42 has two rotatable cylindrical bodies (also called “shoulders” or “turrets”) 54A, 54B, a first (or “right”) shoulder 54A and a second (or “left”) shoulder 54B. Each arm 46, 48 in this implementation also has an upper arm (also referred herein as “inner arm”, “inner arm assembly”, “inner link”, “inner link assembly”, “upper arm assembly”, “first link”, or “first link assembly”) 46A, 48A and a front arm (also referred herein as “outer arm”, “outer arm assembly”, “outer link”, “outer link assembly”, “front arm assembly”, “second link”, or “second link assembly”) 46B, 48B. The upper right arm 46A is operably connected to the right shoulder 54A of the body 42 at a right shoulder joint 46C, and the upper left arm 48A is operably connected to the left shoulder 54B of the body 42 at a left shoulder joint 48C. Furthermore, for each arm 46, 48, the front arms 46B, 48B are rotatably connected to the upper arms 46A, 48A by elbow joints 46D, 48D.In various embodiments, the front arms 46B, 48B are configured to receive various removable and interchangeable end effectors 56A, 56B.

[0036] The end effectors 56A, 56B at the distal ends of arms 46, 48 may be a variety of tools 56A, 56B (such as scissors, grippers, needle holders, etc.), as will be described in more detail below. In certain implementations, the tools 56A, 56B are designed to be removable, possibly by a small twist of a tool knob connecting the end effectors 56A, 56B to arms 46, 48. In certain implementations, at least two disposable, replaceable disposable surgical end effectors can be used with any of the embodiments of the robotic apparatus described herein (including apparatus 40). Such end effectors may include, but are not limited to, fenestrated grippers capable of bipolar cauterization, scissors providing unipolar cauterization, hooks providing unipolar cauterization, and left and right needle holder sets. The tools can be selected to suit a specific surgical task. A specific front arm and end effector configuration that enables the detachability and interchangeability of the end effector is disclosed in detail in U.S. Patent Application No. 14 / 853,477, incorporated by the above reference. Furthermore, it will be understood that any known combination of front arm and end effector may be used in any embodiment of the robotic device disclosed or contemplated herein.

[0037] In various implementations, the body 40 and each link of the arms 46, 48 can include various actuators or motors. In a particular implementation, the body 40 does not have a motor located within it, but each of the arms 46, 48 has at least one motor. In one embodiment, any of the motors discussed and depicted herein may be brushed or brushless motors. Furthermore, the motors may be, for example, 6 mm, 8 mm, or 10 mm in diameter. Alternatively, any known size that can be integrated into the medical device can be used. In a further alternative, the actuator may be any known actuator used in a medical device to actuate the movement or motion of its components. Examples of motors that can be used with the motors described herein include the EC 10 BLDC+GP10A planetary gearhead, the EC 8 BLDC+GP8A planetary gearhead, or the EC 6 BLDC+GP6A planetary gearhead, all of which are manufactured by Maxon in Fall River, Massachusetts. These are commercially available from Motors. There are many ways to actuate these movements, such as DC motors, AC motors, permanent magnet DC motors, brushless motors, pneumatics, cables to remote motors, hydraulics, etc. Thus, the actuator may be at least one motor, hydraulic source, pneumatic source, or any other actuator located away from or near the device 40, such that a suitable coupling or transmission mechanism (such as at least one cable, at least one hydraulic transmission hose, at least one pneumatic transmission hose, or other transmission mechanism) is arranged through the body 42.

[0038] In one embodiment, the various joints discussed above in accordance with any of the embodiments disclosed or contemplated herein can be driven by electric motors located within the device and, in some implementations, near each joint. Other embodiments include incorporating pneumatic or hydraulic actuators into any of the device implementations herein. In additional alternative embodiments, the drive actuators are located outside the device and / or body cavity, and a power transmission mechanism is provided to transmit energy from an external source to the various joints of any device herein. Such a transmission mechanism can take the form of, for example, gears, drive shafts, cables, pulleys, or other known mechanisms, or any combination thereof.

[0039] Figures 3A and 3B show one embodiment of a robotic device 40 with the camera assembly 44 removed, from a single implementation. Specifically, Figure 3A shows the device 40 without the camera positioned through the body 42, and Figure 3B shows one embodiment of the camera 44. In a particular implementation, as best shown in Figure 3B, the camera 44 has a handle (or "camera body") 60 with an elongated shaft 62 connected thereto such that the shaft 62 extends distally from the distal end of the handle 60. Furthermore, the camera 44 has a maneuverable tip 64 connected to the distal end of the shaft 62 via a flexible section 68 so that maneuverability allows the user to adjust the line of sight, as will be described in more detail below. Furthermore, the tip 64 also includes a camera imager 66 at the distal end of the tip 64, configured to capture a desired image. Furthermore, in a particular implementation, the tip 64 has an illumination light (not shown) positioned thereon so that light can illuminate objects in the field of view. In one specific implementation, camera 44 provides 1080p 60Hz digital video. Alternatively, camera 44 can provide any known video quality.

[0040] As best shown in Figures 3A and 3C, the camera assembly 44 can be inserted into the body 42 of the robotic device 40 by positioning the distal end of the shaft 62 through a lumen (not shown) defined through the body 42 of the robotic device 40, as indicated by arrow A in Figure 3A. As will be described in more detail below, a particular implementation of the device 40 includes a removable nest (or "dock") (not shown) located near the proximal end of the body 42, and includes a seal (not shown) that operates to ensure that the patient cavity remains gas-filled. According to a particular embodiment best shown in Figures 2 and 3C, when the shaft 62 is inserted through the lumen of the body 42 as needed, the distal end of the shaft 62 has a flexible section 68 and a maneuverable tip 64 (imager 66) extending from an opening at the distal end of the body 42, and as a result the tip 64 is positioned between two arms 46, 48 in a surgical environment, as shown. Accordingly, the imager 66 is positioned to capture a view between the two arms 46, 48, and the maneuverable tip 64 can be actuated to provide a view of the surgical tool and the surgical target. That is, the tip 64 can be moved so that the surgical tool and / or surgical target are imaged within the field of view of the imager 66. It is understood that this embodiment of the camera 44 and other embodiments of such cameras disclosed or contemplated herein can be used with any similar robotic device having a camera lumen defined therethrough.

[0041] In various implementations, as best shown in Figure 3C, the operable tip 64, and therefore the camera imager 66, is also operable or movable in two independent directions with respect to the shaft 62 by a flexible section 68 positioned between the shaft 62 and the operable tip 64 to change the direction of the line of sight. That is, Figure 3C shows that the operable tip 64 can be articulated by the robot in the yaw direction (left and right with respect to the device 40), as indicated by arrow C or arrow B or the pitch direction (up and down with respect to the device 40). In various implementations, the camera 44 can be controlled via a console (e.g., console 16 above) or via control buttons (not shown), as will be described in more detail below. In one embodiment, the features and operation (including articulation) of the operable tip are substantially similar to those of the operable tips described in U.S. Patent Applications 14, 334,383 and 15 / 227,813, both of which are incorporated by the above reference. Alternatively, any known robotic joint mechanism for a camera or similar device may be incorporated into any camera embodiment used in any device or system disclosed or intended herein.

[0042] In various implementations, the camera 44 can be re-sterilized for multiple uses. In one particular embodiment, the camera 44 can be reused up to 100 times or more. Alternatively, it is understood that any known endoscopic camera that can pass through the device body according to any implementation herein can be used.

[0043] Focusing here on the robot arms 82 and 84 of the robot device 80 according to one embodiment shown in Figures 4A and 4B, each robot arm 82 and 84 in this implementation has six degrees of freedom, including the opening and closing function of the tool, as best shown in Figure 4A. For the purposes of this discussion, the various degrees of freedom will be discussed in the context of the right arm 82, as shown in Figure 4A, but it will be understood that both arms have the same degrees of freedom. The right shoulder joint 86 is a nearly spherical joint similar to a human shoulder. The upper arm 88 can yaw (J1), pitch (J2), and roll around the shoulder joint 86 (J3). These first three axes of rotation roughly intersect at the shoulder joint 86. The robot elbow 90 (J4) allows the front arm 92 to rotate relative to the upper arm 88. Finally, the end effector 94 can roll around the long axis of the tool 94 (J5), and some tools that can be interchangeably mounted on the front arm 92 have an opening and closing action. On the other hand, it is understood that, for example, the hook cauterization tool does not have an opening and closing action.

[0044] The robotic arms 82, 84 in this implementation possess significant dexterity. As shown in Figure 4B, the six degrees of freedom described above allow the arms 82, 84 to reach the closed space of the abdominal cavity. Figure 4B schematically shows the entire workspace 110 of arms 82, 84 of the robotic device 80 according to a particular implementation. In these implementations, “workspace” 110 means the space 110 around the robotic device 80 in which any of the arms 82, 84 (and / or their end effectors) can move, access, and perform their functions within that space 110. According to one embodiment, the arms 82, 84 as herein are substantially the same as the arms, degrees of freedom, and the overall workspace and individual workspace of each arm as disclosed in U.S. Publication Application 2019 / 0090965, which is incorporated herein by reference in its entirety.

[0045] Figure 4B shows a perspective view of the device 80 and further schematically illustrates the combined workspace 110 of the first and second arms 82, 84. Note that each arm 82, 84 has a range of motion and corresponding workspace that extends from the front 112 to the rear 114 of the device 80. Thus, the first arm 82 moves equally to the front 112 and rear 114 for each arm 14, 16 through a space of approximately 180° with respect to the axis of the device body 80A. This overall workspace 110, which constitutes an intersecting or combined workspace 110 based on the separate workspaces of the two arms 82, 84, allows the robot device 80 to function equally well with respect to the front 112 and rear 114 without the need to reposition the body 80A. Thus, the workspace 110 represents the area 112, 114 reachable by both the left and right arms and is defined as a robot workspace 110 using both hands. When working in this area 110, which requires the use of both hands, the surgeon awaits the full dexterity of a robot.

[0046] The two-handed workspace 110 is approximated by an ellipse rotated 180 degrees around the shoulder pitch joint (J2 in Figure 4A), as shown in Figure 4B. In a particular design implementation, the ellipse is approximately 4.5 inches (11.5 cm) along its major axis and 3.25 inches (8.25 cm) along its minor axis. The two-handed workspace 110 extends from the front of the robotic device 80 to below it, and also behind it. This dexterity of the robotic arms 82 and 84 allows the surgeon to operate the arms 82 and 84 and function equally well anywhere within this two-handed workspace 110.

[0047] As shown in Figure 4A, the arms 82, 84 in this exemplary implementation have a molded silicone protective sleeve 96 positioned over the arms 82, 84 and shoulder turrets 98A, 98B. In one embodiment, the sleeve 96 is fluidically sealed to protect the arms 82, 84 and robotic device 80 from fluid ingress and to help simplify postoperative cleaning and sterilization. The fluidically sealed sleeve 96 is substantially similar to any embodiment of the sleeve disclosed or contemplated in U.S. applications 14 / 334,383, 15 / 227,813, and 16 / 144,807, all of which are incorporated by the above reference.

[0048] Additional features and components of the robotic apparatus include those disclosed in U.S. applications 14 / 334,383, 15 / 227,813, and 16 / 144,807, all of which are incorporated by reference above, along with all other patents and applications incorporated by reference above. It is understood that any embodiment of the robotic apparatus disclosed or contemplated herein (including, for example, robotic apparatus 12, 40, and 80 described above) can be incorporated into any other known robotic surgical system, not only the system embodiments disclosed herein. Furthermore, it is understood that, depending on the particular implementation, any robotic apparatus disclosed or contemplated herein can be configured to be cleaned and sterilized for multiple uses. In some embodiments, the apparatus can be reused up to 10 or more times.

[0049] As shown in Figures 5A and 5B (and as discussed above with respect to Figure 1), the device 12 is attached to the operating table 18 via a support arm 20. More specifically, the support arm 20 is connected to the operating table 18 at one end, as shown. Furthermore, the support arm 20 has a robotic device body clamp 116 at the other end of the arm 20, so that the clamp 116 can be connected to a clamp interface ring 118 defined on the outer surface of the housing 52 of the device body 42, as best shown in Figure 5B. Specific embodiments of the clamp 116 are disclosed in further detail in U.S. Publication Application No. 2017 / 0035526, which is incorporated herein in its entirety by reference. Furthermore, the support arm 20 has an adjustment knob 119 that allows the arm 20 to be adjusted so that the device 12 to be attached can be repositioned to a number of different position options as needed. Thus, the device 12 is adjustablely attached to the table 18 via the arm 20. Alternatively, any known support arm can be used to support various embodiments of robotic devices herein. Therefore, in addition to the positioning of the device 12 and arms 46, 48 as described above, in various implementations, the robotic device 12 can be easily repositioned during the procedure via "gross positioning" so that it can reach any area of ​​the surgical cavity. That is, the device 12 can be moved quickly in just a few seconds by manually adjusting the external support arm 20 and the robotic clamp 116. The combination of the gross positioning of the robotic device 12 as described above and the dexterity of the robotic arms 46, 48 allows the surgeon to position the device 12 so that, in certain embodiments, as discussed elsewhere in this specification, the device 12 can be operated anywhere within the patient's target cavity with the arms 46, 48 sufficiently triangulated with respect to a given procedure.

[0050] Various camera embodiments of this specification (including, for example, cameras 14 and 44) ​​can, in certain implementations, be coordinated with a device that is coupled to generate coordinated triangulation between the camera, arm, and end effector for any configuration, positioning, and use of the device. Furthermore, the operable tip of such a camera can be articulated by the robot to reposition the field of view, either automatically or via control by a surgeon using a system console. That is, the camera can articulate so that the surgeon can view all possible positions of the robot arm and desired areas of the surgical field. Furthermore, as the robot arm moves, the operable tip of the camera can be coordinated with the arm using an active joint to coordinate with the movement of the arm and view the entire robot workspace. In certain implementations, the camera joints are actively controlled using motors and sensors, as well as a processor (and, in some implementations, control algorithms contained therein). In these implementations, the processor enables automatic and / or semi-automatic positioning and repositioning of camera 12 around pitch (a) and / or yaw (b) rotations relative to the robot device. Various embodiments of systems and apparatus having such adjustments between the camera and the apparatus (and arm), as well as the resulting features, are disclosed in detail in U.S. Publication Application 2019 / 0090965, incorporated by the above reference.

[0051] Alternatively, in a particular implementation shown in Figure 6, the camera 44 can be removed from the robotic device 40 and positioned through another known laparoscopic port 120, which is typically used in standard manual laparoscopes. Thus, in this embodiment, the device 40 is positioned through the main port (also known as the “insertion port”) 122, and the camera 44 is positioned through the known laparoscopic port 120, as shown. It is understood that this arrangement may be useful for visualizing the robotic device 40 to ensure safe insertion and withdrawal through the main port 122. According to various embodiments, the camera 44 may also be removed from the robotic device 40, for example, to clean the optics, to repair the camera 44, or for any other reason for which it is beneficial to remove the camera 44. While the device 40 and camera 44 are depicted and described herein, it should be understood that any device or camera in any implementation disclosed or contemplated herein can be used in a similar arrangement, and any such camera can be removed from any device for any reason described herein.

[0052] It is understood that the insertion port 122 may also represent a port 122 positioned for any procedure contemplated herein (including a procedure through which a camera 44 is positioned). In one embodiment, the insertion port 122 may be a single-use, commercially available flexible membrane positioned transabdominally to seal and protect the abdominal incision and allow the body 42 of the device 40 to be positioned through it. In a particular implementation, the insertion port 122 is the same device used in hand-assisted laparoscopic surgery (HALS), including the exemplary port 122 shown in Figure 6, which according to one embodiment is a GelPort® 122. The body 42 of the device seals against the insertion port 122, thereby establishing a fluid seal and thus maintaining the blown pressure. Alternatively, any known insertion port (or incision) configured to accept a device similar to those disclosed herein may be used.

[0053] Returning to the overall system embodiments, such as System 10 shown in Figure 1 and discussed above, the robotic device (such as device 12 or device 40) can be operated via a surgical console 16, as shown in Figures 1 and 7, according to a particular embodiment. This exemplary implementation of the surgical console 16 includes a main processor (not shown) that performs robotic control functions, system monitoring, and any other known processes or functions necessary or beneficial to control the system according to any embodiment herein. In these implementations, the console 16 also has a real-time display 130 that can display real-time images of the surgical environment using the output of a camera (such as camera 14 or 44). In one embodiment, the display 130 is a high-resolution display 130; or any known display can be used. Furthermore, the console 16 may also have a touchscreen interface 132 that can be used to control the console 16 and some functions of device 12 (or device 40). In a particular implementation, the touchscreen 132 can also display various types of information regarding the status of the robotic device 12 (or 40) or any other component of System 10. Alternatively, any known console can be used with various implementations of the systems disclosed or intended herein.

[0054] The console 16 in this implementation also has right and left controllers (or “input devices”) 134A, 134B that can be used to control various aspects of the devices 12, 40 and / or cameras 14, 44, including their movements. The surgeon may interface with the input devices 134A, 134B using the surgeon’s hands so that the input devices 134A, 134B can track the surgeon’s hand movements. In certain embodiments, each of the input devices 134A, 134B may have a surgeon presence sensor to track whether the surgeon’s hand is properly engaged. In one exemplary embodiment, the user presence sensor is one of the embodiments disclosed or contemplated in U.S. Patent Application No. 15 / 826,166, which is incorporated by the above reference. In certain implementations, input devices 134A and 134B may also be configured to provide haptic feedback by pressing on the surgeon's hand to indicate workspace boundaries, collisions between robotic arms, etc., as described in detail in U.S. Patent Application No. 15 / 227,813 and U.S. Patent No. 9,888,966, both incorporated by the above reference. According to various embodiments, input devices 134A and 134B can also control the opening and closing function of the robot's end effector.

[0055] According to some implementations, the surgeon console 16 may also have foot pedals 136 configured to be operable by the surgeon's feet to control various robotic functions, including, for example, clutching, camera movement, and various electrocautery functions. Alternatively, the pedals 136 can be used to operate any known function of the robotic apparatus 12, 40, or any other component of the system 10. In a further alternative, any other input device on the console 16 may be used to control those various functions.

[0056] In a particular implementation, the surgical console 16 can be configured to be operated by a surgeon positioned either seated (similar to an intuitive da Vinci console) or standing (similar to manual laparoscopy). The console 16 in this exemplary embodiment is designed to be easily transported between operating rooms using casters 138 and a transport handle 140. In a particular embodiment, the height of the console 16 is adjustable.

[0057] Other console and system embodiments that can be incorporated into any system disclosed or contemplated herein are disclosed in U.S. Patent Applications No. 14 / 334,383, No. 15 / 227,813, and No. 16 / 144,807, all of which are incorporated by reference herein, along with other related patents and applications incorporated by reference herein. Various components of the application include, for example, companion carts, interface pods, electrosurgical generators, and appropriate cables and connections. Furthermore, it is understood that any other known console or controller may be used with any robotic device or system disclosed or contemplated herein.

[0058] Another embodiment of the camera, shown in Figures 8A and 8B (Figure 8A shows a side view and Figure 8B shows a front view), has a camera assembly 150 having a handle (or “camera body”) 152 to which an elongated shaft 154 is connected, such that the shaft 154 extends distally from the distal end of the handle 152. Furthermore, the camera 150 has a maneuverable tip 156 connected to the distal end of the shaft 154 via a flexible section 158 that connects the tip 156 to the shaft 154, so that maneuverability allows the user to adjust the direction in which they view. The tip 156 includes a camera imager (also called an “imaging sensor”) 160 at the distal end of the tip 156, configured to capture a desired image together with optical components and support electronics (not shown). In this embodiment, the camera 150 also has a shaft 154, a flexible section 158 such that the optical fiber provides an optical output at the tip 156 to illuminate a surgical target for imaging, and an optical fiber (not shown) arranged through the tip 156. Furthermore, the assembly 150 has a cable 162 connected to a handle 152 and extending from there to an external controller (such as the console 16 or other controller described above) such that the cable 162 can provide electrical signals to and from the camera 150, including video signals as well as any power and other signals or information necessary to operate the camera 150.

[0059] According to one embodiment, the operable tip 156 can be articulated by the robot in two independent directions. More specifically, an embodiment of the camera assembly 44 will be discussed in further detail, and as shown in Figure 3C, the operable tip 156 can be articulated to move in both the pitch and yaw directions.

[0060] Figures 9A, 9B, and 9C are enlarged views of a camera handle 152 according to one embodiment. In this exemplary implementation, the camera handle 152 has an outer housing (also called the “external housing,” “housing,” or “enclosure”) 180, as best shown in Figure 9A, with the inner housing 182 positioned within the housing 180, as best shown in Figure 9B. In a particular embodiment, the inner housing 182 is an internal heat distribution sink 182 that can function to distribute heat into the camera handle external housing 180. More specifically, the heat distribution sink 182 is a cylinder 182 or structure 182 of any suitable shape that is positioned within the housing 180 and around the internal components of the handle 152. The sink 182 is made of a material that distributes heat throughout the structure 182 and has a heat capacity for heat. In one particular embodiment, the material is aluminum. Alternatively, the sink 182 can be made of any known heat sink material. The outer casing 180 serves to enclose the internal mechanical and electrical components of the heatsink 182 and handle 152.

[0061] Furthermore, various implementations of the handle 152 also have a cable strain relief assembly 184 extending from the proximal end of the handle 152, such that the cable 162 is positioned through the relief assembly 184. In one embodiment, the relief assembly 184 is a tube 184 or other elongated structure 184 through which the cable 162 can be positioned such that the relief assembly 184 has a reinforced structure to reduce the strain applied to the cable 162 when a force is applied to the cable 162. It is understood that the cable strain relief assembly 184 may be any known structure for providing strain relief. Alternatively, the assembly 184 may be any known cable strain relief assembly.

[0062] The camera handle 152 also has two O-ring seals 186A, 186B positioned around the cable connection 188 in this particular implementation. The seals 186A, 186B are positioned between the connection 188 and the housing 180, thereby establishing a fluid seal between them and thus helping to prevent fluid ingress. Alternatively, there could be one seal, three seals, or any number of seals positioned around the connection 188. In further alternatives, the seals do not have to be O-ring seals and could instead be any known type of seal.

[0063] According to one embodiment, the distal end of the camera handle 152 has a nose cone 190 extending therefrom. As best shown in Figure 9C, the nose cone 190 is a distal structure 190 extending distally from the handle 152. The nose cone 190 includes a nose cone tip 192 at the distal end of the nose cone 190 and a slot 194 defined in the nose cone proximal to the tip 192. In one embodiment, the nose cone slot 194 is a camera coupling mechanism receiving slot 194, such that a camera latch 420, which will be discussed in more detail below, can be received within the slot 194. Thus, the camera latch receiving slot 194 can operate in conjunction with the camera latch 420 to assist in mounting the camera to the elongated body 42 of the elongated device 40 (or any other device embodiment herein) via a nesting structure 346, as will be discussed in more detail below.

[0064] Furthermore, the nose cone 190 has a projection (or "collar") 196 positioned around the cone 190 and having both an outer O-ring seal 198A and an inner O-ring seal 198B, which are attached to the projection 196 as shown in the figure. The outer O-ring seal 198A is positioned on the outer circumference of the collar 196 so that the seal 198A is positioned between the collar 196 and the camera body housing 180. Furthermore, the inner O-ring seal 198B is positioned on the inner circumference of the collar 196 so that the seal 198B is positioned between the collar 196 and the cone 190. Thus, the seals 198A, 198B help to establish a fluid seal between the nose cone 190 and the camera housing 180, thereby creating a sealed camera handle 152 that helps protect the internal mechanical and electrical components during use and cleaning.

[0065] During use, the camera assembly 150 is typically held by a user (such as a surgical assistant and / or surgeon) via the camera handle / body 152 when the camera 150 is moved around the apparatus body 42 (or any other apparatus body in the embodiments herein) and inserted into or removed from it (or when used independently of any robotic apparatus as described above). Furthermore, the nose cone 190 of the handle 152 is sized and shaped to connect with the elongated body 42 (or any other apparatus body embodiment herein) and assist in mounting, as will be discussed in more detail below.

[0066] According to one embodiment shown in Figures 10A and 10B, the camera body / handle 152 may include several internal components. Figure 10A is a side view of the internal components of the handle 152 (the same figure provided in Figures 8A, 9A, and 9B), and Figure 10B is a front view (the same figure as in Figure 8B). As best shown in Figure 10A, the handle 152 of this implementation has an LED light source 220, to which two light-transmitting fibers 222A, 222B are connected, extending from the light source 220 through the inside of the handle 152 toward and through the camera shaft 154 to the distal end of the shaft 154. Thus, the fibers 222A, 222B transmit light from the light source 220 along the fibers 222A, 222B into the field of view of the imager 160 as described above. Thus, the light from the light source 220 ultimately illuminates the imaging target. It is understood that the light source 220 can be adjusted via a controller (such as the console 16), including via software in the controller or console 16, in known ways for adjusting the light intensity generated therefrom. Alternatively, the handle 152 may have two LED light sources, each separate light source being connected to one of two different transmission fibers. Further alternatives may use one transmission fiber, or three or more fibers. Yet another alternative may incorporate any configuration for transmitting light to the maneuverable tip 156 into any of the camera embodiments disclosed or contemplated herein.

[0067] Furthermore, the camera body 152 also has at least one circuit board 224 located therein. In one embodiment, at least one circuit board 224 can be used to control the camera assembly 150 in any number of known ways. In some non-limiting embodiments, at least one circuit board 224 can control a light source 220 or any facet of illumination, a video signal, an image sensor 160, an actuator mechanism 226A, 226B, or any sensor present on or within the camera 150. Alternatively, the camera body 152 may have two or more circuit boards for controlling various components and / or functions of the camera 150. Furthermore, the camera body 152 also has an actuator unit (also referred to herein as an "indirection unit") 226 that acts on a maneuverable tip 156. That is, the actuator unit 226 is operably coupled to the maneuverable tip 156 such that the actuator unit 226 acts on the tip 156 to move in both directions, pitch and yaw directions, as will be described in more detail herein. In this particular embodiment, the actuator unit 226 actually consists of two actuator mechanisms, a first (or yaw or left / right) actuation mechanism 226A and a second (or pitch or north / south) actuation mechanism 226B. As will be described in more detail below, each of the two mechanisms is connected to the operable tip 156 via cables that can be used to transmit the driving force used to move the operable tip 156 as described herein. In one embodiment best shown in Figure 10B, each of the two mechanisms is connected to the operable tip 156 via cable pairs, with the first mechanism 226A connected to the tip 156 via cable pair 228 and the second mechanism 226B connected to the tip 156 via cable pair 230. That is, as best shown in the side view of Figure 10A, the first pair of cables 228A and 228B are connected to the first mechanism 226A at the proximal ends of the pair 228A and 228B, and further connected to a controllable tip 156 at the distal ends of the pair 228A and 228B.Similarly, as shown in the profile of Figure 10B, the second pair of cables 230 is connected at its proximal end to the second mechanism 226B and at its distal end to a maneuverable tip 156. In one embodiment, the cable pair 228, 230 is known Bowden cables 228, 230, as will be described in more detail below.

[0068] Figure 10C shows one of two operating mechanisms according to one embodiment. That is, the first operating mechanism 226A is shown in Figure 10C, but according to one embodiment, it is understood that the second operating mechanism 226B has similar components and operates in a similar manner. Mechanism 226A has a drive motor 240, a gear train 242 rotatably coupled to the drive motor 240, and a double-start lead screw 244 rotatably coupled to the gear train 242. Thus, the operation of the drive motor 240 causes the rotation of the gear train 242, which in turn causes the rotation of the lead screw 244. Alternatively, the motor 240 can be rotatably coupled to the lead screw 244 via any combination of gears or other rotatable couplings. According to one implementation, the operating mechanism 226A may also have two sensors 262, 264 used to measure the angular position of the lead screw 244. One sensor 262 has a magnet 262 rotatably coupled to the lead screw 244 so that the sensor 262 provides absolute position measurement. The other sensor 264 in this implementation is a positioning sensor 264, as shown. It is understood that any of these sensors 262, 264 could be any known sensor for tracking the position of the lead screw 244. According to a particular implementation, the actuation mechanism 226A also allows the lead screw 244 to be driven manually. That is, this embodiment has a manual drive input 266, which in this exemplary embodiment is a nut 266 that can be turned using a simple tool such as a wrench or the user's finger. This manual drive mechanism 266 can be used for unpowered movement during assembly or servicing of the actuation mechanism 226A.

[0069] As best shown in Figures 10C and 10D, the double-start lead screw 244 has two sets of threads, a first set of threads 246A and a second set of threads 246B. In one embodiment, the two sets of threads 246A and 246B have opposite threads; that is, one of the two sets of threads 246A and 246B has a right-hand thread and the other set has a left-hand thread. As best shown in Figures 10C and 10E, the actuation mechanism 226A also has two carriages that are screw-into the double-start lead screw 244. More specifically, the first carriage 248A is screw-into the first set of threads 246A, while the second carriage 248B is screw-into the second set of threads 246B. Each of the two carriages 248A and 248B is slidably positioned within the actuation mechanism 226A along rods (also called "linear bearings") 250A and 250B. That is, each of the carriages 248A and 248B has lumens 252A, 252B, 254A, and 254B through which the rods 250A and 250B are positioned, as shown. In other words, as shown in the figure, the first carriage 248A is slidably positioned on the rods 250A and 250B via lumens 252A and 252B, and the second carriage 248B is slidably positioned on the rods 250A and 250B via lumens 254A and 254B. Therefore, if the pair of threads 246A and 246B have opposite threads, when the lead screw 244 is rotated in one direction, the carriages 248A and 248B move linearly toward each other (towards each other), while when the lead screw 244 is rotated in the opposite direction, the carriages 248A and 248B move linearly toward each other (further apart). According to a particular embodiment, if the threads of the two pairs 246A and 246B have the same pitch, it is understood that the carriages 248A and 248B move equally in opposite directions.

[0070] Furthermore, each carriage 248A, 248B is connected to one of the two cables of the cable pair 228, as previously described with respect to Figures 10A and 10B. More specifically, the first carriage 248A is connected to the first cable 228A of the pair 228, and the second carriage 248B is connected to the second cable 228B. In one particular embodiment, as best shown in Figure 10C, each carriage has connecting structures 258A, 258B used to mount the cables 228A, 228B in place. That is, the first carriage 248A has a first connecting structure 258A to which cable 228A can be detachably connected to carriage 248A. Similarly, the second carriage 258B has a second connecting structure 258B to which cable 228B can be detachably connected to carriage 248B. In this particular implementation, the connecting structures 258A, 258B are clamp structures 258A, 258B, to which the cables 228A, 228B can be removably connected by loosening or tightening the clamp structures 258A, 258B using screws 260A, 260B. Furthermore, each of the connecting structures 258A, 258B also has semi-lumens 261A, 261B defined on the sides of each carriage 248A, 248B, to which the cables 228A, 228B can be placed within semi-lumens 261A, 261B, and the clamp structures 258A, 258B can be positioned relative to the cables 228A, 228B and tightened with screws 260A, 260B to secure the cables 228A, 228B in place. As described above, it is understood that cables 228A and 228B are connected to a controllable tip 156 at their distal ends. More specifically, one of the two cables 228A and 228B is connected to a controllable tip 156 such that the tip 156 moves to the left when the cable 228A and 228B is operated, while the other of the two cables 228A and 228B is connected to a tip 156 such that the tip 156 moves to the right when the cable 228A and 228B is operated.

[0071] Figure 10F shows an enlarged cross-sectional view of Figure 10A showing the internal components of the camera body 152 according to one embodiment. More specifically, Figure 10F shows the relationship between cables 228A and 228B and connection assemblies 280A and 280B located distal to the actuation mechanism 226A. In this exemplary implementation, each of the cables 228A and 228B is a known Boden cable having an inner cable that is slidably arranged within a cable housing along a portion of the length of the inner cable. More specifically, the first cable 228A has both an inner cable 282A and a housing 282B. The inner cable 282A extends from the actuation assembly 226A to the maneuverable tip 156, while the housing 282B extends from the connection assembly 280A to the maneuverable tip 156. Similarly, the second cable 228B has an inner cable 284A extending from the actuation assembly 226A to the operable end 156 and a housing 284B extending from the connection assembly 280B to the operable end 156. Thus, the distal length of the inner cable 282A is slidably located within the cable housing 282B, while the proximal length of the inner cable 282A extends from the housing 282B at the connection assembly 280A and extends toward the actuation assembly 226A as indicated by arrow D. Similarly, the distal length of the inner cable 284A is slidably located within the cable housing 284B, while the proximal length of the inner cable 284A extends from the housing 284B at the connection assembly 280B and extends toward the actuation assembly 226A as indicated by arrow E. Therefore, the inner cables 282A and 284A are actuated by the actuation assembly 226A as described above to articulate the maneuverable tip 156 via the linear movement of the inner cables 282A and 284A. In one embodiment, each of the cable housings 282B and 284B is made of a known composite structure with an inner lining (to facilitate the movement of the inner cables) and is incompressible in the longitudinal direction.

[0072] Each connection assembly 280A, 280B includes both tension spring assemblies 286A, 286B and tension adjustment mechanisms 288A, 288B, both of which are described in detail below.

[0073] According to one embodiment, each tension spring assembly 286A, 286B is operable to absorb the force applied to the cable housings 282B, 284B, thereby reducing the strain applied thereto and potentially preventing the resulting damage. Specifically, each tension spring assembly 286A, 286B has bushings 302A, 302B and tension spring retainers 300A, 300B that are slidably positioned through openings 304A, 304B defined in the body wall 306. Each bushing 302A, 302B is fixedly attached to the body wall 306 such that each spring retainer 300A, 300B is slidable relative to the body 152. Each retainer 300A, 300B has tension springs 308A, 308B positioned around the main body 300A, 300B so that each tension spring 308A, 308B can move between an extended state (as shown in assembly 280A) and a compressed state (as shown in assembly 280B), and positioned between the lips 307A, 307B on the retainer 300A, 300B and the main body wall 306. Furthermore, each retainer 300A, 300B has extendable barrels 310A, 310B extending from the distal end of the retainer 300A, 300B. As shown, each cable housing 282B, 284B is connected to the extendable barrels 310A, 310B. It is understood that both the retainers 300A, 300B and the extendable barrels 310A, 310B have lumens 312A, 312B defined through them, as shown, so that the internal cables 282A, 284A can extend through them as shown.

[0074] Therefore, each tension spring assembly 286A, 286B is configured to provide strain relief. For example, if there is a force applied to the maneuverable tip 156 from an external source (such as the user's hand or a collision between the tip 156 and an object), that external force is applied to one or both of the cable housings 282B, 284B. Assuming that each of the cable housings 282B, 284B is incompressible in the longitudinal direction, the force is transmitted axially along the length of the housings 282B, 284B and transmitted to the retainers 300A, 300B, thereby biasing the tension springs 308A, 308B from their relaxed state toward either a compressed or extended state. All of this occurs without the external force being applied to the internal cables 282A, 284A. Therefore, each tension spring assembly 286A, 286B helps prevent damage to cables 228A, 228B by absorbing the application of external forces to cables 228A, 228B through cable housings 282B, 284B and tension springs 308A, 308B. In other words, the compression of tension springs 308A, 308B allows for adjustment of the length of cable housings 282B, 284B as a result of the external forces, while protecting the inner cables 282A, 284A from their external forces.

[0075] Alternatively, the configuration of the tension spring assemblies 286A and 286B is not limited to their specific components. It is understood that any known assembly for absorbing strain from external forces can be incorporated herein.

[0076] Now, turning to the tension adjustment mechanisms 288A, 288B, each such assembly 288A, 288B is operable to allow manual adjustment of the tension of each inner cable 282A, 284A. That is, if the user determines that either cable 282A, 284A is too loose or too tight, the user can use the appropriate adjustment mechanism 288A, 288B to adjust its tension. Each mechanism 288A, 288B includes extendable barrels 310A, 310B extending from the distal ends of the retainers 300A, 300B, as discussed above. Each adjustable barrel 310A, 310B has an adjuster nut 314A, 314B screwably connected to the barrel 310A, 310B such that rotation of either nut 314A, 314B by the user causes axial extension or contraction of the respective barrel 310A, 310B. Therefore, if either cable 282A or 284A is too loose, the user can rotate either nut 314A or 314B to lengthen the respective barrels 310A or 310B, thereby tightening the cables 282A or 284A. Conversely, if either cable 282A or 284A is too tight, the user can rotate either nut 314A or 314B to shorten the appropriate barrel 310A or 310B, thereby loosening the cables 282A or 284A.

[0077] Alternatively, the configuration of tension adjustment assemblies 286A and 286B is not limited to their specific components. It is understood that any known assembly for adjusting cable tension may be incorporated herein.

[0078] Furthermore, it should be understood that the various embodiments of camera bodies disclosed or contemplated herein are not limited to the specific components and features discussed above. That is, the camera body / handle may incorporate known mechanisms or components of illumination, energy / information transmission, joint movement, and adjustment / strain relief mechanisms.

[0079] As shown in Figures 11A and 11B, various implementations of the robotic apparatus 340 may include a removable nest 346 that is detachably connectable to the proximal end of the apparatus body 342 (as best shown in Figure 11A), designed to receive an insertable camera assembly 344 (including, for example, any camera embodiment disclosed or contemplated herein), and which connects or locks the apparatus 340 and the camera 344 together, as shown in Figure 13. That is, the nest 346 is a connecting component or port that can connect to both the apparatus 340 and the camera 344, as shown, so that the nest 346 is positioned between the apparatus body 342 and the camera 344 when the three components 342, 344, and 346 are connected together (as best shown in Figures 11B and 13). In this embodiment, the nest 346 is detachably attached to the proximal portion of an elongated body 342, as best shown in Figure 11A (one of two buttons 348 is visible, the other being located on the opposite side of the nest 346), and can be released from there by a nest release button 348, as best shown in Figure 11B. The release button 348 will be described in more detail below. Furthermore, as best shown in Figure 11B, the nest 346 has a proximal opening 350, also known as a camera receiving opening 350, which receives a camera (such as camera 344) so ​​that the camera 344 mechanically connects or mates with the nest 346 within the opening 350. The lip 352 of the opening 350 in this embodiment includes a slot 354, which is a rotational registration feature 354 that mates with a matching feature (in this case, a projection) on the camera 344 to ensure that the camera 344 mates perfectly with the nest 346 in one particular orientation. Furthermore, the nest 346 also has a seal package 356 positioned within it, which helps ensure that the blown pressure in the patient's target cavity does not leak through the camera lumen (not shown) of the device body 342, regardless of whether the camera 344 is positioned within the lumen. In addition, the nest 346 has a camera lock / release button 358, as shown. Both the seal package 356 and the button 358 will be described in more detail below.

[0080] One embodiment of the seal package 356 is shown in Figures 12A and 12B. As best shown in Figure 12A, the seal package 356 is positioned within the nest 346 and therefore located within the apparatus body 342 (as shown in Figure 13) so that the seal package 356 can receive a camera (such as camera 344). It is understood that the seal package 356 is any structure having at least one seal located therein to establish a fluid seal in the presence or absence of a camera. In various implementations, the structure 356 may have one seal, two seals, three seals, or any number of seals as necessary to maintain a fluid seal as described herein. As best shown in Figure 12B, the seal package 356 of this exemplary embodiment has two seals, a first seal 358 and a second seal 360. In one embodiment shown, the first seal 358 is located above the second seal 360. Alternatively, the second seal 360 can be positioned above the first seal 358.

[0081] As best shown in Figure 12B, the first seal 358 is configured to receive the camera 344 and maintain a fluid seal between the camera 344 and the seal 358. In the exemplary embodiment shown, the seal 358 is a circular seal with a tensioned seal wall 362 through which an opening 364 is defined. The opening 364 has a diameter smaller than the outer diameter of the camera 344 positioned through it. When the camera 344 is positioned through the opening 364 of the first seal 358 (for example, as shown in Figure 13), the wall 362 is biased away from the center of the seal 358 as a result of the smaller diameter of the opening 364, thereby increasing the tension in the wall 362. Thus, the tension in the wall 362 biases the wall 362 toward the camera 344, thereby establishing a seal between them. Alternatively, the first seal 358 may be any seal that can receive a camera through it and establish a fluid seal between the seal and the camera.

[0082] The second seal 360 is configured to maintain a fluid seal when the camera is not positioned through the seal package 356. As shown, in this embodiment, the seal 360 is a circular seal having a hinged seal wall 366 that can move between an open position (when the camera is positioned through it) and a closed position (when the camera is not present) so that the closed wall 366 establishes a fluid seal. According to one implementation, the seal wall 366 is biased to close by the higher gas pressure in the patient's target cavity, thereby reducing or preventing air pressure leakage or loss as a result. Alternatively, the second seal 360 may be any seal that can receive a camera through it and establish a fluid seal when the camera is not present.

[0083] Continuing with Figure 12B, the seal structure 356 also has a frame 368 having an upper frame structure 370 and a bottom frame structure 372 connected to the upper frame structure 370. The two seals 358, 360 are positioned between the upper frame structure and the bottom frame structures 370, 372, as shown. In one embodiment, the bottom frame structure 372 also has a third seal 374 positioned therein. More specifically, in this particular embodiment, the third seal 374 is an O-ring seal 374. Alternatively, the third seal 374 may be any known seal.

[0084] During use, the seal package 356 allows the camera 344 to be inserted or removed at any time, including during treatment, without risking loss of blown fluid. Specifically, the first seal 358 maintains the fluid seal while the camera 344 is present (as shown in Figure 13), and the second seal 360 maintains the fluid seal when the camera 344 is absent.

[0085] It is understood that embodiments of the sealing structure 346 disclosed or contemplated herein can be incorporated into any nesting embodiment disclosed or contemplated herein. Furthermore, it is understood that a fluid seal can be established within any nesting embodiment for receiving any camera embodiment herein using other known sealing mechanisms or structures.

[0086] Returning to the connection of the nest 346 to the proximal end of the device body 342, Figure 14A shows two hinged latches 380A, 380B positioned within the nest 346 so that the nest 346 can be connected to the device body 342 using latches 380A, 380B, and Figure 14B shows a close-up of one of those latches 380B. The latches 380A, 380B are a connecting mechanism that can be used both to connect the nest 346 to the proximal end of the device body 342 and to disconnect it from there. Figure 14B shows only the hinged latch 380B for the purpose of illustrating the latches 380B in more detail, but it will be understood that the other hinged latch 380A has substantially the same or similar components. Latch 380B has a proximal end 382 that is hinged or cantilevered to the internal part of the nest 346 so that the distal end 384 of latch 380B is movable relative to the nest 346. Furthermore, each latch 380A, 380B is hinged so that when the latches 380A, 380B are pushed radially inward, the force is directed to bias them back to their natural state (thus the force is applied so that the latches 380A, 380B are pushed radially outward), so that the latches 380A, 380B are pulled so that a force is applied to the latches 380A, 380B. Furthermore, the latch button 348 discussed above with respect to Figure 11B is positioned at the distal end of latch 380B, with the latch button 348 connected to the latch body 386 via an arm 388 so that the button 348 is positioned at a certain distance from the latch body 386. The arm 388 has several structural features that facilitate interaction with the latch 380B in relation to the device body 342 and assist in the coupling / uncoupling of the latch 380B. Specifically, the arm 388 includes a projection or projection body 390 having an inclined surface 392 on the side of the projection 390 and a nested latch surface 394 on the top of the projection 390. Furthermore, the side of the arm 388 is a guide surface 396. The functions of these surfaces will be described in detail below.

[0087] Figures 15A and 15B show the connection of the nest 346 to the proximal end of the device body 342. More specifically, Figure 15A shows the nest 346 positioned close to the proximal end of the body 342, and Figure 15B shows the nest 346 connected to the proximal end of the body 342. The proximal end of the device body 342 has a male connector 400 located at the proximal end of the body 342, which is configured to connect to the nest 346 such that the nest 346 is positioned on the male connector 400 when the nest 346 is connected to the male connector 400.

[0088] Figures 16A to 17B illustrate the operation of the hinged latches 380A and 380B when connecting the nest 346 to the device body 342. As best shown in Figures 16A and 16B, the male connector 400 has V-shaped receiving slots 402 defined on both sides thereof, with only one of the slots 402 shown in the figures. The slots 402 are located on both sides of the connector 400 and are aligned to receive the two hinged latches 380A and 380B. Furthermore, as also shown in Figures 16A and 16B, the slots 402 (and an unillustrated slot on the opposite side of the connector 400) communicate with projection receiving openings 404 defined on the side of the connector 400. The connector has two such projection receiving openings, one of which is shown, and the other opening located on the opposite side of the connector 400 but not shown in the figures.

[0089] Therefore, when the nest 346 is biased downward toward the male connector 400, the latches 380A, 380B align with the V-shaped slot (including slot 402), as best shown in Figure 16A, so that the guide surface 396 of the arm 388 aligns as well. When the distal ends 384 of the latches 380A, 380B approach and contact the connector 400 (as best shown in Figure 17A), the arm 388 aligns with the V-shaped slot 402, and the inclined surface 392 contacts the inner wall 408 of the connector 400. Therefore, when the nest 346 is further biased downward, the V-shaped slot 402 helps guide the arm 388 of the latches 380A, 380B, and the inclined surface 392 contacting the inner wall 408 biases the distal ends of the latches 380A, 380B radially inward, as indicated by arrow F in Figure 17A. When the nest 346 is biased to fully connect with the connector 400, the projections 390 of the latches 380A and 380B are positioned parallel to the projection-receiving opening 404, such that the tensile nature of the latches 380A and 380B results in the latches 380A and 380B being biased radially outward, so that the projections 390 are biased toward the opening 404. That is, the distal ends of the latches 380A and 380B and the button 348 above them are biased radially outward, as indicated by arrow G in Figure 17B. At this point, the nest latch surface 394 is positioned to contact the upper wall 406 of the opening 404, thereby holding the latches 380A and 380B in place.

[0090] When the nest 346 is connected to the device body 342 as described herein, the latches 380A and 380B are releasably locked to the male connector 400 as described above. Therefore, in order to remove the nest 346, the user must reverse the above process by pressing both buttons 348 on the latches 380A and 380B, thereby prompting the distal ends of the latches 380A and 380B to be radially inward such that the nest latch surface 394 is no longer in contact with the upper wall 406. Thus, when the buttons 348 are pressed down sufficiently, the latches 380A and 380B are released, and the nest 346 is biased proximal to the proximal end of the device body 342, thereby allowing the nest to be removed from the device 340.

[0091] Embodiments of latches 380A and 380B disclosed or contemplated herein can be incorporated into any nesting embodiment disclosed or contemplated herein and used to connect to any device body disclosed or contemplated herein. Furthermore, it is understood that any nesting embodiment herein can be removably connected to any device body herein using any other known mounting mechanism.

[0092] As shown in Figure 18, once the nest 346 is connected to the device body 342 as described above, the nest 346 may, according to one embodiment, have a camera coupling mechanism (or "latch mechanism") 420 that can be used to connect a camera (such as camera 344) to the nest 346, and therefore to the device 340. Furthermore, the mechanism 420 can also be used to release or uncouple camera 344 from the device body 342. Furthermore, the mechanism 420 may also have a presence detection mechanism 422 connected to it that can operate in conjunction with the latch mechanism 420 to detect the presence or absence of camera 344. Both the camera coupling mechanism 420 and the presence detection mechanism 422 will be described in more detail below.

[0093] Continuing with Figure 18, the camera latch mechanism 420 has a sliding latch body 424 with a camera receiving opening 426 defined therein as shown. The camera receiving opening 426 is positioned above the camera lumen 432 in the seal package 356, as shown. Furthermore, the coupling mechanism 420 also has a latch button 428 attached to the body 424 on one side, as shown, and a tension spring 430 attached to the body 424 on the opposite side of the button 428. The tension spring 430 is configured to bias the latch body 424 away from the spring 430, as indicated by arrow FI, so that the opening 426 does not align with the camera lumen 432 in the seal package 356.

[0094] Next, with reference to Figures 19A to 19C, the insertion of the camera 150 into the nest 346 (and thus the device 340) and the resulting interaction with the camera latch mechanism 420 according to one embodiment will be described. As shown in Figure 19A, the shaft 154 of the camera (such as camera 150) is inserted into the nest 346, but the tension spring 430 continues to bias the mechanism 420 toward the button in the direction indicated by arrow I before the distal end of the handle 152 reaches the latch mechanism 420. As shown in Figure 19B, when the camera 150 is biased distally into the nest 346 such that the nose cone tip 192 is biased through the opening 426 of the latch body 424, the tip 192 contacts the body 424 and biases the body 424 toward the tension spring 430 as indicated by arrow J. This allows the tip 192 to pass through the opening 426 of the latch body 424. As shown in Figure 19C, when the tip 192 passes through the opening 426, the latch receiving slot 194 is positioned in the opening 426, releasing the force applied by the tip 192, allowing the force of the tension spring 430 to again bias the latch body 424 away from the spring 430, as again indicated by arrow I. This biases the latch body 424 into the slot 294 of the camera 150, thereby connecting the latch mechanism 420 and the camera 150 so that the camera 150 is locked in place within the nest 346, and thus within the elongated body 342. If it is desirable to remove the camera 150, the user presses button 428, thereby biasing the latch mechanism 420 toward the latch spring, and thereby biasing the latch body 424 away from the slot 194, releasing the camera 150 so that the user can remove it proximally from the nest 346 and the device body 342.

[0095] It is understood that embodiments of the camera coupling mechanism 420 disclosed or contemplated herein can be incorporated into any nesting embodiment disclosed or contemplated herein and used to couple to a camera embodiment disclosed or contemplated herein. Furthermore, it is understood that any camera embodiment herein can be detachably coupled to any device body herein using any other known camera coupling mechanism.

[0096] As described above, the nest 346 also has a presence detection mechanism 422, according to one embodiment, which is described in detail with respect to Figures 20 to 22B. The mechanism 422 includes a lever 440 that is pivotably connected to a latch body 424 at a pivot point 442, as best shown in Figure 21. The lever 440 has a contact pad 444 at one end and a magnet 446 at the opposite end, as shown. Furthermore, the detection mechanism 422 also includes a tension spring 448 that contacts the lever 440 at a point along the lever identified by arrow K, as best shown in Figures 20 and 21, so that the tension spring 448 rotates the lever 440 clockwise around the pivot point 442, as shown in Figure 21. Furthermore, the detection mechanism 422 includes a sensor 450 positioned at the proximal end of the device body 342 such that a magnet 446 on the lever 440 interacts with the sensor 450, as will be described in more detail below.

[0097] According to one embodiment, the presence detection mechanism 422 can detect three different configurations: (1) the presence of a fully installed camera (such as camera 150), (2) proper connection of the nest 346 to the device body 342, and (3) activation of the camera release button 428 by the user. Each of these will be described in turn below.

[0098] Figure 21 shows the presence detection mechanism 422 when the camera 150 is not yet properly coupled to the nest 346 and the device body 342. Since the camera body 152 is not positioned adjacent to and in contact with the contact pad 444, the force applied by the tension spring 448 biases the portion of the lever 440 forward, biasing the magnet 446 away from the sensor 450. The gap between the magnet 446 and the sensor 450 indicates to the sensor 450 that the magnet 446 is not in contact with the sensor 450, thereby indicating that the camera 150 is not properly coupled to the device body 342.

[0099] Figure 22 shows the current detection mechanism 422 when the camera 150 is properly coupled to the nest 346 and the device body 342. With the camera body 152 in contact with the contact pad 444 and positioned, the portion of the lever 440 above the contact pad 444, and thus the radially outward pivot point 442 as indicated by arrow L, is biased. Thus, the magnet 446 is biased to contact the sensor 450 so that the sensor 450 indicates the presence of the magnet 446, thereby indicating that the camera 150 is properly coupled to the device body 342. Furthermore, this position of the lever 440 and the contact of the magnet 446 with the sensor 450 also indicate that the nest 346 is properly coupled to the device body 342.

[0100] Figure 23 shows the current detection mechanism 422 when the camera latch button 428 is pressed by the user, as indicated by arrow M. Assuming that the lever 440 is pivotally connected to the latch body 424 at the pivot point 442, pressing down the latch button 428 moves the pivot point 442 away from the button 428 (in the direction of arrow M). The movement of the pivot point 442, combined with the force applied by the tension spring 448, moves the portion of the lever 440 below the pivot point 442 radially outward, such that the magnet 446 is biased away from the sensor 450. The gap between the magnet 446 and the sensor 450 indicates to the sensor 450 that the magnet 446 is not in contact with the sensor 450, thereby indicating that the button 428 has been pressed. This indication of the button 428 being pressed down is a precursor to the camera being removed. Therefore, in certain embodiments, the camera tip is straightened (coaxial with the camera shaft) so that the entire system can use this information to make it easier to remove or to perform other similar procedures.

[0101] Alternatively, magnet 446 does not have to be a magnet. Instead, the component at the end of lever 440 could be any sensor component or sensor-detectable component that interacts with sensor 450 to indicate whether that end of lever 440 is in contact with (or near) sensor 450 or not near sensor 450. For example, both component 446 and sensor 450 could be sensors capable of sensing the presence of other sensors. Alternatively, component 446 and sensor 450 could be any type of mechanism that provides sensing the presence or absence of that end of lever 440.

[0102] It is understood that embodiments of presence detection mechanisms disclosed or contemplated herein can be incorporated into any nested embodiment disclosed or contemplated herein. Furthermore, it is understood that any other known presence detection mechanism can be used in any nested embodiment herein to detect the presence of any camera embodiment herein.

[0103] It is understood that the various nesting embodiments disclosed or contemplated herein are not limited to the specific coupling and uncoupling mechanisms, sensors, etc., described herein with respect to the exemplary nesting embodiments described herein. It is understood that other known mechanisms or components capable of achieving the same results may be incorporated herein.

[0104] In one implementation, various embodiments of the apparatus described herein may have fluid seals at all potential fluid inlet points within the apparatus, thereby reducing or eliminating the risk of fluid entering any of the internal areas or components of the apparatus. For example, in one embodiment, each robotic arm in the apparatus may have a fluid seal positioned at a specific location within the arm to reduce or prevent fluid access to the internal portion of the arm. Furthermore, the arms may also have flexible protective sleeves positioned around the arms, as described above. One end of the sleeve is attached to the distal end of the elongated apparatus body, and the other end of the sleeve is attached to the distal end of the front arm of each arm.

[0105] An exemplary front arm 460 with appropriate fluid seals according to one embodiment is shown in Figures 23 and 24. As best shown in Figure 23, the front arm 460 has a tool lumen 462 defined therein, and a tool drive 464 is positioned at the proximal end of the lumen 462. Furthermore, the front arm 460 has a protective sleeve 472 around the front arm body 470, and has fluid seals at both ends of the lumen 462, a proximal seal 468 at the proximal end, and a seal arrangement at the distal end. As best shown in Figure 24, the seal arrangement at the distal end of the front arm 460 includes a seal 476 (which may be a compression ring 476) that engages with the protective sleeve 472 and holds it in place around the opening to the tool lumen 462. The seal 476 can be molded into the protective sleeve 472 or it can be a separate component. Furthermore, the distal seal arrangement also includes a threaded seal holder 478 that screws into the lumen opening of the front arm body 470. This holder 478 compresses the seal 476 and protective sleeve 472, thereby forming a fluid seal between the protective sleeve 472 and the threaded seal holder 478. In certain implementations, the threaded seal holder 478 is removable, thereby allowing the protective sleeve 472 to be removed and replaced as needed. In addition, the distal seal arrangement includes a ring seal 466 that can be positioned to form a seal between the threaded seal holder 478 and the tool lumen 462 while allowing relative rotation between the tool lumen 462 and the front arm body 470. Finally, the tool bayonet 480 is positioned on top of the seal assembly as shown in the figure. The bayonet 480 is configured to receive and connect to any interchangeable end effector (not shown) inserted into the tool lumen 462. It is understood that the bayonet interface 480 can be used to allow only specific end effectors to be inserted into the front arm 460.

[0106] The fluid seals 466 and 468 establish a fluid seal between the tool lumen 462 and the internal region and components of the front arm body 470. More specifically, each of the fluid seals 466 and 468 prevents fluid ingress while allowing the tool lumen body 474 to rotate relative to the front arm body 470. The distal seal 466 establishes a fluid seal between the tool lumen 462 and the protective sleeve 472, as described above, while the proximal seal 468 establishes a fluid seal between the tool lumen 462 and the internal portion of the body 470, thereby preventing fluid entering the lumen 462 from accessing the internal portion of the body 470. Thus, the two seals 466 and 468, combined with the protective sleeve 472 and the rest of the distal seal assembly discussed above, prevent fluid from entering the front arm body 470 even when an end effector (not shown) is not present in the tool lumen 462.

[0107] As shown in Figure 25, a fluid seal is also established at the shoulder joint 500 between the apparatus body 502 and the upper arm 504. As discussed above, the protective sleeve 472 is positioned around the upper arm 504 and extends across the shoulder joint 500 to the elongated body 502. In one embodiment shown, the sleeve 472 is mechanically held against the elongated body 502 using a retaining band 506 positioned around the sleeve 472 in a groove 508 formed in the body 502, such that the band 506 pulls the sleeve 472 into the groove 508. Furthermore, according to a particular implementation, the sleeve 472 may have two seals 510 molded or otherwise formed on the sleeve 472 itself, as shown. These bands 510 extend around the outer circumference of the sleeve 472 and function similarly to two O-rings by establishing a redundant compression seal between the sleeve 472 (with the bands 510) and the robot assembly. The camera lumen 512 within the device body 502 extends beyond and adjacent to the sleeve 472, allowing a camera (not shown) to pass through it, be positioned, pass through the protective sleeve 472, and extend unobstructed in front of the body 502.

[0108] As shown in Figure 26, a fluid seal is also established at the proximal end of the elongated device body 502 via several seals to prevent fluid ingress. First, the body housing 520 is connected to the grooved ring body 522 with a seal 524 (e.g., an O-ring 524) to establish a fluid seal between the housing 520 and the grooved ring body 522. Further, a fluid seal is established between the grooved ring body 522 and the light ring 526 using another seal 528 (e.g., an O-ring seal 528). Finally, a fluid seal is established between the light ring 526 and the male connector 530 using another seal 532 (e.g., an O-ring seal 532). In certain embodiments, there may also be a seal 534 through which an electrical cable 536 enters the elongated body 502, and a seal 538 through which the elongated body is passed by the camera lumen 512.

[0109] It is understood that the fluid seals disclosed or contemplated herein can be incorporated into any apparatus embodiment disclosed or contemplated herein. Furthermore, it is understood that any other known sealing mechanism can be used and arranged in any known manner in any apparatus embodiment herein to establish a fluid seal in any apparatus embodiment herein.

[0110] While various inventions have been described with reference to preferred embodiments, those skilled in the art will recognize that modifications can be made in form and detail without departing from their spirit and scope.

Claims

1. A camera assembly for a robotic surgical system, (a) A long, slender camera shaft, (b) A camera body connected to the proximal end of the elongated camera shaft, (i) The distal end, (A) A distal end including a distal nose cone arranged around the elongated shaft, (ii) At least one operating mechanism disposed within the camera body, (A) A rotatable shaft and (B) A first drive carriage connected to the rotatable shaft, (C) At least one actuation mechanism including a second drive carriage connected to the rotatable shaft, (iii) External housing and (iv) A cylindrical heat sink structure, which is located inside the external housing and positioned around the internal components of the camera body, in order to distribute heat to the inside of the camera body, (v) A camera body comprising a light source disposed within the camera body, wherein the light source is one of the internal components of the camera body, and the light source is coupled to at least one optical transmission fiber extending distally through the elongated camera shaft, (c) A controllable tip located at the distal end of the elongated camera shaft, (i) A controllable tip body including a camera imager and an illumination component, wherein the illumination component includes an optical output from at least one optical transmission fiber, (ii) A maneuverable tip comprising the elongated camera shaft and a flexible section connected to the maneuverable tip body, (d) A first cable connected at a first end to the first drive carriage and at a second end to the operable tip, (e) A second cable connected at a first end to the second drive carriage and at a second end to the operable tip, A camera assembly in which the operation of the actuation mechanism causes linear movement of the first and second drive carriages in opposite directions, thereby causing the first and second cables to steer the operable tip.

2. The aforementioned camera body, A coupling mechanism receiving slot defined proximal to the distal nose cone. The camera assembly according to claim 1, further comprising:

3. The camera assembly according to claim 1, wherein the controllable tip body is movable relative to the elongated camera shaft via the flexible section.

4. (a) A first external force absorption assembly associated with the camera body, (i) A first slidable body slidably disposed within the camera body, comprising a first slidable body having a first internal cavity, (ii) A first external force absorption assembly including a first spring operably connected to the first slidable body, the first spring being configured to be movable between an extended state, a relaxed state and a compressed state, (b) A second external force absorption assembly associated with the camera body, (i) A second slidable body slidably disposed within the camera body, the second slidable body having a second internal cavity, (ii) The camera assembly according to claim 1, further comprising a second external force absorption assembly including a second spring operably connected to the second slidable body, the second spring being configured to be movable between an extended state, a relaxed state and a compressed state.

5. The camera assembly according to claim 4, wherein the first cable includes a first cable housing and a first inner cable disposed within the first cable housing, and the second cable includes a second cable housing and a second inner cable disposed within the second cable housing.

6. The camera assembly according to claim 5, wherein the first cable housing is operably connected to the first slidable body, and the first internal cable is routed through the first lumen; and the second cable housing is operably connected to the second slidable body, and the second internal cable is routed through the second lumen.

7. The camera assembly according to claim 4, wherein the first force absorption assembly includes a first tension adjustment mechanism operably connected to the first slidable body, and the second force absorption assembly includes a second tension adjustment mechanism operably connected to the second slidable body.

8. The camera assembly according to claim 7, wherein the first tension adjustment mechanism includes a first extendable barrel screw-connected to a first adjuster nut associated with the first slidable body, and the second tension adjustment mechanism includes a second extendable barrel screw-connected to a second adjuster nut associated with the second slidable body.

9. A camera assembly for a robotic surgical system. (a) A long, slender camera shaft and (b) A camera body connected to the proximal end of the elongated camera shaft, (i) At least one operating mechanism disposed within the camera body, (A) A rotatable shaft and (B) A first drive carriage connected to the rotatable shaft, (C) At least one actuation mechanism including a second drive carriage connected to the rotatable shaft, (ii) External housing and (iii) A cylindrical heat sink structure is provided within the external housing and positioned around the internal components of the camera body in order to distribute heat to the inside of the camera body, (iv) A camera body comprising a light source disposed within the camera body, wherein the light source is one of the internal components of the camera body, and the light source is coupled to at least one optical transmission fiber extending distally through the elongated camera shaft, (c) A controllable tip located at the distal end of the elongated camera shaft, (i) A controllable tip body including a camera imager and an illumination component, wherein the illumination component includes an optical output from at least one optical transmission fiber, (ii) A operable tip, including the elongated camera shaft and a flexible section connected to the operable tip body, (d) A first cable comprising a first cable housing and a first inner cable disposed within the first cable housing, wherein the proximal end of the first inner cable is connected to the first drive carriage and the distal end of the first cable is connected to the operable tip, (e) A second cable comprising a second cable housing and a second inner cable disposed within the second cable housing, wherein the proximal end of the second inner cable is connected to the second drive carriage and the distal end of the second cable is connected to the operable tip, A camera assembly in which the operation of the actuation mechanism causes linear movement of the first and second drive carriages in opposite directions, thereby causing the first and second cables to steer the operable tip.

10. The camera assembly according to claim 9, wherein the controllable tip body is movable relative to the elongated camera shaft via the flexible section.

11. (a) A first external force absorption assembly associated with the camera body, (i) A first sliding body slidably disposed within the camera body, the first sliding body comprising a first lumen, and the first internal cable slidably disposed through the first lumen, (ii) A first external force absorption assembly including a first spring operably connected to the first slidable body, the first spring being configured to be movable between an extended state, a relaxed state and a compressed state. (b) A second external force absorption assembly associated with the camera body, (i) A second slidable body slidably disposed within the camera body, the second slidable body comprising a second lumen, and the second internal cable slidably disposed through the second lumen, (ii) The camera assembly according to claim 9, further comprising a second external force absorption assembly including a second spring operably connected to the second slidable body, the second spring being configured to be movable between an extended state, a relaxed state and a compressed state.

12. The camera assembly according to claim 11, wherein the first slidable body includes a first lip located at the distal end of the first slidable body, and the first spring is operably connected to the first slidable body at the first lip; and the second slidable body includes a second lip located at the distal end of the second slidable body, and the second spring is operably connected to the second slidable body at the second lip.

13. The camera assembly according to claim 11, wherein the first force absorption assembly includes a first tension adjustment mechanism operably connected to the first slidable body, and the second force absorption assembly includes a second tension adjustment mechanism operably connected to the second slidable body.

14. The camera assembly according to claim 13, wherein the first tension adjustment mechanism includes a first extendable barrel screw-connected to a first adjuster nut associated with the first sliding body, and the second tension adjustment mechanism includes a second extendable barrel screw-connected to a second adjuster nut associated with the second sliding body.

15. A camera assembly for a robotic surgical system, (a) A long, slender camera shaft, (b) A camera body connected to the proximal end of the elongated camera shaft, (i) At least one operating mechanism disposed within the camera body, (A) A rotatable shaft and (B) A first drive carriage screwed onto the rotatable shaft, (C) At least one actuation mechanism including a second drive carriage screwed onto the rotatable shaft, (ii) A first external force absorption assembly associated with the camera body, (A) A first slidable body slidably disposed within the camera body, comprising a first slidable body having a first internal cavity, (B) At least one actuation mechanism including a first spring operably connected to the first slidable body, the first spring being configured to be movable between an extended state, a relaxed state and a compressed state, (iii) A second external force absorption assembly associated with the camera body, (A) A second slidable body slidably disposed within the camera body, comprising a second slidable body having a second internal cavity, (B) A second external force absorption assembly including a second spring operably connected to the second slidable body, the second spring being configured to be movable between an extended state, a relaxed state and a compressed state, (iv) External housing and (v) A cylindrical heat sink structure, which is located inside the external housing and around the internal components of the camera body, in order to distribute heat to the inside of the camera body, (vi) A camera body including a light source disposed within the camera body, wherein the light source is one of the internal components of the camera body, and the light source is coupled to at least one optical transmission fiber extending distally through the elongated camera shaft, (c) A controllable tip located at the distal end of the elongated camera shaft, (i) A controllable tip body including a camera imager and an illumination component, wherein the illumination component includes an optical output from at least one optical transmission fiber, (ii) A maneuverable tip including a flexible section connected to the elongated camera shaft and the maneuverable tip body, (d) A first cable comprising a first cable housing and a first inner cable disposed within the first cable housing, wherein the proximal end of the first inner cable is connected to the first drive carriage and the distal end of the first cable is connected to the operable tip, (e) A second cable comprising a second cable housing and a second inner cable disposed within the second cable housing, wherein the proximal end of the second inner cable is connected to the second drive carriage and the distal end of the second cable is connected to the operable tip, A camera assembly in which the operation of the actuation mechanism causes linear movement of the first and second drive carriages in opposite directions, thereby causing the first and second cables to steer the operable tip.

16. The camera assembly according to claim 15, wherein the proximal end of the first cable housing is operably connected to the first slidable body, and the first internal cable is disposed through the first lumen; and the proximal end of the second cable housing is operably connected to the second slidable body, and the second internal cable is disposed through the second lumen.

17. The camera assembly according to claim 15, wherein the first slidable body includes a first lip located at the distal end of the first slidable body, and the first spring is operably connected to the first slidable body at the first lip; and the second slidable body includes a second lip located at the distal end of the second slidable body, and the second spring is operably connected to the second slidable body at the second lip.

18. The camera assembly according to claim 15, wherein the first force absorption assembly includes a first tension adjustment mechanism operably connected to the first slidable body, and the second force absorption assembly includes a second tension adjustment mechanism operably connected to the second slidable body.

19. The camera assembly according to claim 18, wherein the first tension adjustment mechanism includes a first extendable barrel screw-connected to a first adjuster nut associated with the first sliding body, and the second tension adjustment mechanism includes a second extendable barrel screw-connected to a second adjuster nut associated with the second sliding body.

20. The at least one operating mechanism is, (C) A rotatable shaft, further including The camera assembly according to claim 15, wherein the first and second drive carriages are each screwably connected to the rotatable shaft.

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