Aspiration and irrigation valves in a robotic surgical system, and method for priming them.

Abstract

A method of priming a surgical instrument, the surgical instrument including a shaft assembly including a lumen and a valve assembly including a first inlet configured to receive fluid from a fluid source, a second inlet configured to receive suction from a vacuum source, an outlet in fluid communication with the lumen, a valve chamber, and at least one valve plug. The method includes activating the fluid source to provide fluid to the first inlet, activating the vacuum source to provide suction to the second inlet, transitioning the at least one valve plug from a first position to a second position, and transferring a first portion of the fluid from the first inlet through the second inlet toward the vacuum source, thereby priming the surgical instrument.

Description

[Background technology]

[0001] Various surgical instruments include end effectors for use in conventional medical procedures and techniques performed by medical professionals, as well as in robot-assisted surgery. Such surgical instruments can be directly grasped and manipulated by the surgeon or incorporated into robot-assisted surgery. In robot-assisted surgery, the surgeon can remotely control the movement of such surgical instruments at the surgical site by operating a master controller. The controller may be located at a considerable distance from the patient (e.g., across operating rooms, in different rooms, or in a building completely separate from the patient). Alternatively, the controller may be positioned very close to the patient within the operating room. Regardless, the controller may include one or more hand input devices (joystick, exoskeleton glove, master manipulator, etc.) coupled to the surgical instrument by a servo mechanism. In one example, a servo motor moves a manipulator supporting the surgical instrument based on the surgeon's manipulation of the hand input device. During surgery, surgeons may use a variety of surgical instruments via a robotic surgical system, including ultrasonic blades, surgical staplers, tissue graspers, needle holders, electrosurgical cauterization probes, and the like. Each of these devices performs a function for the surgeon, such as cutting tissue, coagulating tissue, holding or inserting needles, grasping blood vessels, incising tissue, or cauterizing tissue.

[0002] An example of a surgical instrument includes an aspiration-irrigation device. The aspiration-irrigation device is configured to apply at least one of aspiration or irrigation to a surgical site in order to flush fluid and debris from the surgical site via irrigation and remove fluid and debris from the surgical site via aspiration. In this regard, the aspiration-irrigation device is configured to connect to a vacuum source for aspiration and a fluid source for irrigation, and such sources may be stored locally within the aspiration-irrigation device. Irrigation may be directed to the surgical site separately from aspiration, but in some examples, irrigation may occur simultaneously with aspiration. Furthermore, during a procedure, a medical operator may select aspiration or irrigation as desired. Examples of the aspiration-irrigation device may merely perform aspiration and irrigation, or may be incorporated into other surgical instruments for additional functions.

[0003] Additional examples of other surgical instruments include surgical staplers. Some such staplers can operate to substantially seal the cut tissue layers together near the cut ends of the tissue layers by clamping the tissue layer, cutting the clamped tissue layer, and driving staples through the tissue layer. Examples of surgical staplers and related features include U.S. Patent No. 7,404,508, issued July 29, 2008, entitled "Surgical Stapling and Cutting Device"; U.S. Patent No. 7,434,715, issued October 14, 2008, entitled "Surgical Stapling Instrument Having Multistroke Firing with Opening Lockout"; U.S. Patent No. 7,721,930, issued May 25, 2010, entitled "Disposable Cartridge with Adhesive for Use with a Stapling Device"; U.S. Patent No. 8,408,439, issued April 2, 2013, entitled "Surgical Stapling Instrument with An Articulatable End Effector"; and "Motor-Driven Surgical Cutting Instrument with Electric Actuator Directional Control," issued June 4, 2013. U.S. Patent No. 8,453,914, titled "Assembly", U.S. Patent No. 9,186,142, issued November 17, 2015, titled "Surgical Instrument End Effector Articulation Drive with Pinion and Opposing Racks", U.S. Patent No. 9,795,379, issued October 24, 2017, titled "Surgical Instrument with Multi-Diameter Shaft", and U.S. Patent No. 9,808, issued November 7, 2017, titled "Installation Features for Surgical Instrument End Effector Cartridge".These features are disclosed in U.S. Patent No. 248, entitled "Staple Forming Features for Surgical Stapling Instrument" (No. 10,092,292, issued October 9, 2018), U.S. Patent No. 9,717,497, entitled "Lockout Feature for Movable Cutting Member of Surgical Instrument" (No. 9,717,497, issued August 1, 2017), U.S. Patent No. 9,517,065, entitled "Integrated Tissue Positioning and Jaw Alignment Features for Surgical Stapler" (No. 9,517,065, issued December 13, 2016), U.S. Patent No. 9,622,746, entitled "Distal Tip Features for End Effector of Surgical Instrument" (No. 9,622,746, issued April 18, 2017), and U.S. Patent No. 8,210,411, entitled "Motor-Driven Surgical Instrument" (No. 8,210,411, issued July 3, 2012). Each of the U.S. patent disclosures cited above is incorporated herein by reference in its entirety.

[0004] Further examples of such other surgical instruments include ultrasonic surgical instruments, which feature an end effector with a blade element that vibrates at an ultrasonic frequency to cut and / or seal tissue (for example, by denaturing proteins within tissue cells). These instruments include one or more piezoelectric elements that convert electrical power into ultrasonic vibrations, which are transmitted along an acoustic waveguide to the blade element. The precision of cutting and coagulation may be controlled by the operator's skill and by adjusting the power level, blade end angle, tissue traction, and blade pressure. The power level used to drive the blade element may be changed (for example, in real time) based on sensed parameters such as tissue impedance, tissue temperature, tissue thickness, and / or other factors. Some instruments have clamp arms and clamp pads for gripping tissue with the blade element. Examples and related concepts of ultrasonic surgical instruments are described in U.S. Patent Application Publication No. 2006 / 0079874, titled "Tissue Pad for Use with an Ultrasonic Surgical Instrument," published on April 13, 2006, and now abandoned; U.S. Patent Application Publication No. 2007 / 0191713, titled "Ultrasonic Device for Cutting and Coagulating," published on August 16, 2007, and now abandoned; U.S. Patent Application Publication No. 2008 / 0200940, titled "Ultrasonic Device for Cutting and Coagulating," published on August 21, 2008, and now abandoned; U.S. Patent No. 9,949,785, titled "Ultrasonic Surgical Instrument with Electrosurgical Feature," issued on April 24, 2018; and "Ultrasonic" issued on March 4, 2014. This is disclosed in U.S. Patent No. 8,663,220, entitled “Electrosurgical Instruments.” Each of the U.S. Patent Application Publications and U.S. Patents cited above is incorporated herein by reference in its entirety.

[0005] Although several surgical instruments and systems have been manufactured and used, it is believed that no one manufactured or used the present invention as described in the appended claims prior to the present inventors. [Brief explanation of the drawing]

[0006] This specification concludes with the claims, which specifically point to and clearly claim the present technology, but the present technology is better understood by reading the following description of certain embodiments in conjunction with the accompanying drawings, where similar reference numerals in the drawings identify the same elements. [Figure 1] This shows a perspective view of a first embodiment of a table-based robotic system configured for laparoscopic procedures. [Figure 2] This shows a perspective view of a second embodiment of a table-based robot system. [Figure 3] Figure 2 shows an end view of the table-based robot system. [Figure 4] Figure 3 shows an end view of a table-based robot system, including a pair of exemplary robotic arms. [Figure 5] Figure 4 shows a partially exploded perspective view of the robotic arm, which has an instrument driver and a first exemplary surgical instrument. [Figure 6A] Figure 5 shows a side view of the surgical instrument in a retracted position. [Figure 6B] Similar to Figure 6A, but showing a side view of a surgical instrument in an expanded position. [Figure 7] This shows a perspective view of a second exemplary surgical instrument having a valve adapter for selectively directing suction and irrigation. [Figure 8] Figure 7 shows an enlarged rear perspective view of the valve adapter. [Figure 9] Figure 7 shows an enlarged rear perspective view of one embodiment of the valve adapter and spool valve assembly. [Figure 10]Figure 7 shows an enlarged front perspective view of the valve adapter with a portion of the housing removed for greater clarity. [Figure 11] Figure 9 shows a front perspective view of the valve assembly. [Figure 12] Figure 9 shows a front perspective view of the spool valve assembly with the housing removed for greater clarity. [Figure 13A] This figure shows a cross-sectional view of the spool valve assembly in Figure 12, cut along the cutting line 13A-13A in Figure 12, where the vacuum valve is in the closed vacuum position and the fluid valve is in the closed fluid position, so that neither the vacuum inlet nor the fluid inlet is in fluid communication with the outlet. [Figure 13B] Similar to Figure 13A, this is a cross-sectional view of a spool valve assembly showing a fluid valve in the open fluid position so that the fluid inlet communicates with the outlet. [Figure 13C] Similar to Figure 13A, this is a cross-sectional view of a spool valve assembly showing a vacuum valve in the open vacuum position so that the vacuum inlet is in fluid communication with the outlet. [Figure 14] Similar to Figure 13A, this figure shows a cross-sectional view of a spool valve assembly, illustrating a vacuum valve in the open vacuum position and a fluid valve in the open fluid position, with the vacuum inlet communicating with the fluid inlet. [Figure 15] Figure 7 illustrates one exemplary method for priming surgical instruments.

[0007] The drawings are not intended to limit the manner in which the technology can be implemented, and various embodiments of the technology are intended to be carried out in various other ways, including those not necessarily depicted in the drawings. The accompanying drawings incorporated herein and forming part of this specification illustrate some aspects of the technology and, together with the description thereof, are useful in illustrating the principles of the technology, but it should be understood that the technology is not limited to the exact arrangement shown. [Modes for carrying out the invention]

[0008] The following description of specific embodiments of the Art should not be used to limit its scope. Other embodiments, features, aspects, forms, and advantages of the Art will be apparent to those skilled in the art through the following description, which, as an example, represents one of the best embodiments conceivable for carrying out the Art. As will be understood, no other different and obvious embodiments of the Art described herein are possible without departing from the Art. Accordingly, the drawings and descriptions should be considered illustrative and not restrictive.

[0009] It will also be understood that one or more of the teachings, expressions, embodiments, examples, etc. described herein may be combined with one or more of the other teachings, expressions, embodiments, examples, etc. described herein. Therefore, the teachings, expressions, embodiments, examples, etc. described below should not be considered in isolation from one another. Various preferred ways in which the teachings herein can be combined will be readily apparent to those skilled in the art by considering the teachings herein. Such modifications and variations are intended to be included in the claims.

[0010] For clarity of this disclosure, the terms “proximal” and “distal” are defined herein with respect to the operator of the surgical instrument, whether human or robotic. “Proximal” means the location of an element closer to the operator of the surgical instrument, whether human or robotic, and further away from the surgical end effector of the surgical instrument. “Distal” means the location of an element closer to the surgical end effector of the surgical instrument and further away from the operator of the surgical instrument, whether human or robotic. For convenience and clarity, it will be further understood that spatial terms such as “clockwise,” “counterclockwise,” “longitudinal,” “inside,” “outside,” and “top” are also used herein to refer to relative location and relative direction. Such terms are used below with reference to the drawings illustrated for clarity and are not intended to limit the invention as described herein.

[0011] The embodiments of the examples described herein may be integrated into a robot-enabled medical system, including a robotic surgical system, which can perform a variety of medical procedures, including both minimally invasive procedures such as laparoscopy and non-invasive procedures such as endoscopy. The robot-enabled medical system may be capable of performing endoscopic procedures such as bronchoscopy, ureteroscopy, and gastroscopy.

[0012] In addition to performing a wide range of procedures, robot-enabled medical systems can offer additional benefits to medical professionals, such as enhanced imaging and guidance to assist them. Furthermore, robot-enabled medical systems can provide medical professionals with the ability to perform procedures from ergonomic positions without requiring cumbersome arm movements and positions. Moreover, robot-enabled medical systems can provide medical professionals with improved ease of use, allowing one or more of the system's instruments to be controlled by a single operator.

[0013] I. Exemplary robot-enabled medical systems Figure 1 shows an exemplary robot-enabled medical system, including a first embodiment of a table-based robotic system (10). The table-based robotic system (10) of this embodiment includes a table system (12) operably connected to surgical instruments (14) for diagnostic and / or therapeutic procedures in the course of treating a patient. Such procedures may include, but are not limited to, bronchoscopy, ureteroscopy, vascular procedures, and laparoscopy. For this purpose, it will be understood that while the surgical instruments (14) are configured for laparoscopy, any instrument for treating a patient may be used in the same way. At least a portion of the table-based robotic system (10) may be constructed and operable in accordance with at least some of the teachings from various patent documents, published patent applications, and patent application documents cited herein.

[0014] A. First exemplary table-based robotic system With respect to Figure 1, the table-based robotic system (10) includes a table system (12) having a platform such as a table (16), on which a plurality of carriages (18), which may be referred herein as “arm supports,” each support the deployment of a plurality of robotic arms (20). The table-based robotic system (10) further includes support structures (e.g.) such as columns (22) for supporting the table (16) on the floor. The table (16) may also be configured to tilt to a desired angle during use, such as during laparoscopic procedures. Each robotic arm (20) includes an instrument driver (24) configured to detachably connect to a surgical instrument (14) for use and to manipulate the surgical instrument (14). In an alternative embodiment, the instrument drivers (24) may be collectively positioned in a linear arrangement to support instruments extending between them along a “virtual rail” that can be repositioned in space by maneuvering one or more robotic arms (20) to one or more angles and / or positions. In practice, a C-arm (not shown) may be positioned above the patient to provide fluorescence fluoroscopy imaging.

[0015] In this embodiment, the column (22) includes a carriage (18) arranged in a ring shape to respectively support one or more robot arms (20) for use. When driven by a mechanical motor (not shown) positioned in the column (22), the carriage (18) translates along and / or rotates around the column (22), so as to provide the robot arms (20) with access to multiple sides of a table (16), for example, both sides of a patient. Rotation and translation of the carriage (18) allow instruments such as a surgical instrument (14) to be aligned to different access points on the patient. In an alternative embodiment discussed in further detail below, the table-based robotic system (10) may include a patient table or bed having an adjustable arm support including parallel-extending bars (26) (see FIG. 2). One or more robot arms (20) may be compactly stored under the patient table or bed, and then attached (e.g., via a shoulder with an elbow joint) to a carriage (18) that is vertically adjustable to be raised during use.

[0016] The table-based robotic system (10) may also include a tower (not shown) that divides the functions of the table-based robotic system (10) between the table (16) and the tower to reduce the form factor and bulk of the table (16). For this purpose, the tower may provide the table (16) with various support functions such as processing, computing and control capabilities, electric power, fluidics, and / or optical and sensor processing. The tower may also be movable to be positioned away from the patient to improve access for medical professionals and keep the operating room organized. The tower may include a master controller or console that provides both a user interface for operator input such as a keyboard and / or a pendant, and a display screen including a touch screen for pre-operative and intra-operative information, including but not limited to real-time imaging, navigation, and tracking information. In one embodiment, the tower may include a gas tank used for insufflation.

[0017] B. Second Exemplary Table-Based Robotic System As briefly discussed above, the second exemplary table-based robotic system (28) comprises one or more adjustable arm supports (30) that include a bar (26) configured to support one or more robotic arms (32) relative to a table (34), as shown in FIGS. 2 to 4. In the present embodiment, although a single pair of adjustable arm supports (30) is shown, additional arm supports (30) may be provided around the table (34). The adjustable arm supports (30) are configured to selectively move relative to the table (34) to change the position of the adjustable arm supports (30) and / or any robotic arm (32) mounted thereon relative to the table (34) as desired. Such adjustable arm supports (30) provide high flexibility to the table-based robotic system (28), including the ability to easily stow one or more adjustable arm supports (30) with robotic arms (32) under the table (34).

[0018] Each adjustable arm support (30) provides several degrees of freedom, including lift, lateral translation, and tilt. In the embodiments shown in Figures 2 to 4, the arm support (30) consists of four degrees of freedom, indicated by arrows. The first degree of freedom allows the adjustable arm support (30) to move in the z direction ("Z-lift"). For example, the adjustable arm support (30) includes a vertical carriage (36) configured to move along or above or below a column (38) and base (40) supporting a table (34). The second degree of freedom allows the adjustable arm support (30) to tilt around an axis extending in the y direction. For example, the adjustable arm support (30) may include a rotational joint, which allows the adjustable arm support (30) to be aligned with a Trendelenburg position bed. A third degree of freedom allows the adjustable arm support (30) to "pivot up" around an axis extending in the x-direction, which may be useful for adjusting the distance between the side of the table (34) and the adjustable arm support (30). A fourth degree of freedom allows the adjustable arm support (30) to translate along the longitudinal length of the table (34) which extends along the x-direction. The base (40) and column (38) support the table (34) against a support surface indicated along the support axis (42) above the floor axis (44) in this embodiment. Although this embodiment shows the adjustable arm support (30) mounted on the column (38), alternatively, the arm support (30) may be mounted on the table (34) or the base (40).

[0019] As shown in this embodiment, the adjustable arm support (30) includes a vertical carriage (36), a bar connector (46), and a bar (26). For this purpose, the vertical carriage (36) is attached to the column (38) by a first joint (48), which allows the vertical carriage (36) to be moved relative to the column (38) (for example, by moving a first longitudinal axis (50) extending in the z direction up and down). The first joint (48) provides the adjustable arm support (30) with a first degree of freedom ("Z-lift"). The adjustable arm support (30) further includes a second joint (52) which provides the adjustable arm support (30) with a second degree of freedom (tilt) for pivoting around a second axis (53) extending in the y direction. The adjustable arm support (30) also includes a third joint (54) that provides the adjustable arm support (30) with a third degree of freedom ("pivot upward") around a third axis (58) extending in the x direction. Furthermore, an additional joint (56) mechanically restrains the third joint (54) as the bar connector (46) rotates around the third axis (58) to maintain the desired orientation of the bar (26). The adjustable arm support (30) also includes a fourth joint (60) for providing the adjustable arm support (30) with a fourth degree of freedom (translation) along a fourth axis (62) extending in the x direction.

[0020] With respect to Figure 4, the table-based robot system (28) is shown with two adjustable arm supports (30) mounted on either side of a table (34). A first robot arm (32) is attached to one of the hanging bars (26) of the first adjustable arm support (30). The first robot arm (32) includes a base (64) attached to the bar (26). Similarly, a second robot arm (32) includes a base (64) attached to the other bar (26). The distal ends of the first and second robot arms (32) each include an instrument driver (66) configured to attach to one or more instruments, as will be discussed in more detail below.

[0021] In one embodiment, one or more robot arms (32) have seven or more degrees of freedom. In another embodiment, one or more robot arms (32) have eight degrees of freedom, including an insertion axis (one degree of freedom including insertion), a wrist (three degrees of freedom including wrist pitch, yaw, and roll), an elbow (one degree of freedom including elbow pitch), a shoulder (two degrees of freedom including shoulder pitch and yaw), and a base (64) (one degree of freedom including translation). In one embodiment, the degrees of freedom of insertion are provided by the robot arm (32), but in another embodiment, an instrument such as a surgical instrument (14) (see Figure 6A) includes an instrument-based insertion architecture.

[0022] Figure 5 further illustrates in detail one embodiment of the instrument driver (66) with the surgical instrument (14) removed from it. Considering the instrument-based insertion architecture shown with reference to the surgical instrument (14), the instrument driver (66) further includes a clearance bore (67) extending throughout it to movably receive a portion of the surgical instrument (14), as will be discussed in more detail below. The instrument driver (66) may also be referred to herein as an “instrument drive mechanism,” “instrument device manipulator,” or “advanced device manipulator” (ADM). Instruments may be designed to be separated, removed, and replaced by a medical professional or relevant staff for individual sterilization or disposal. In some scenarios, the instrument driver (66) may be draped for protection, thus eliminating the need for replacement or sterilization.

[0023] Each instrument driver (66) includes a plurality of rotary drive output units (68), such as four drive output units (68), which operate independently of other instrument drivers (66) and are similarly driven independently of each other to direct the operation of the surgical instrument (14). In this embodiment, the instrument drivers (66) and the surgical instrument (14) are aligned such that the axis of each drive output unit (68) is parallel to the axis of the surgical instrument (14). During use, a control circuit (not shown) receives a control signal, transmits a motor signal to a desired motor (not shown), compares the resulting motor speed measured by each encoder (not shown) to a desired speed, modulates the motor signal to generate a desired torque in one or more drive output units (68).

[0024] In this embodiment, the instrument driver (66) is circular, and the drive output unit (68) is housed within a rotating assembly (70). In response to torque, the rotating assembly (70) rotates along a circular bearing (not shown) that connects the rotating assembly (70) to the non-rotating portion (72) of the instrument driver (66). Power and control signals can be communicated from the non-rotating portion (72) of the instrument driver (66) to the rotating assembly (70) through electrical contacts, such as brushed slip-ring connectors (not shown). In one embodiment, the rotating assembly (70) may be integrated into the non-rotating portion (72) and therefore respond to a separate drive output unit (not shown) that is not parallel to the other drive output unit (68). In either case, the rotating assembly (70) allows the instrument driver (66) to rotate the rotating assembly (70) and the drive output unit (68) together with the surgical instrument (14) as a single unit around the instrument driver shaft (74).

[0025] Any system described herein, including a table-based robotic system (28), may further include an input controller (not shown) for maneuvering one or more instruments. In some embodiments, the input controller (not shown) may be coupled (e.g., communicatively, electronically, electrically, wirelessly, and / or mechanically) to an instrument such that the operation of the input controller (not shown) causes a corresponding operation of the instrument, for example, via master-slave control. In one embodiment, one or more load cells (not shown) may be positioned within the input controller (not shown) such that a portion of the input controller (not shown) operates under admittance control, thereby advantageously reducing the inertia perceived by the controller during use.

[0026] In addition, any system described herein, including a table-based robotic system (28), may provide non-radiation-based navigation and localization means for reducing radiation exposure and the total number of instruments in the operating room. As used herein, the term “localization” may mean determining and / or monitoring the position of an object in a reference coordinate system. A radiation-free operating environment can be achieved by using techniques such as preoperative mapping, computer vision, real-time electromagnetic (EM) tracking, and robot command data individually or in combination. In other cases where radiation-based imaging modalities are still used, preoperative images, computer vision, real-time EM tracking, and robot command data can be used individually or in combination to enhance the information that can only be obtained through radiation-based imaging modalities.

[0027] C. Exemplary surgical instruments With respect to Figures 5 to 6B, and in cooperation with the instrument driver (66) described above, the surgical instrument (14) includes an elongated shaft assembly (114) and an instrument base (76) having a mounting interface (78) with a plurality of drive inputs (80) configured to be coupled to corresponding drive outputs (68). The shaft assembly (114) of the ultrasonic surgical instrument (14) extends from the center of the instrument base (76) having an axis substantially parallel to the axis of the drive inputs (80), as briefly discussed above. With the shaft assembly (114) positioned at the center of the instrument base (76), the shaft assembly (114) is coaxial with the instrument driver axis (74) when mounted in the clearance bore (67) and movably received. Therefore, the rotation of the rotating assembly (70) causes the shaft assembly (114) of the surgical instrument (14) to rotate around its own longitudinal axis, while the clearance bore (67) provides space for the shaft assembly (114) to translate during use.

[0028] For this purpose, Figures 5 to 6B show a surgical instrument (14) having an instrument-based insertion architecture, as briefly discussed above. The surgical instrument (14) includes an elongated shaft assembly (114), an end effector (116) connected to the shaft assembly (114) and extending distally therefrom, and an instrument base (76) coupled to the shaft assembly (114). In particular, the insertion of the shaft assembly (114) is grounded at the instrument base (76) such that the end effector (116) is configured to move selectively from a retracted position to an extended position in the longitudinal direction, and vice versa, and to any desired longitudinal position between those positions. When used herein, the retracted position is shown in Figure 6A, positioning the end effector (116) relatively close and proximal to the instrument base (76), while the extended position is shown in Figure 6B, positioning the end effector (116) relatively far and distal to the instrument base (76). Thus, while insertion and withdrawal of the end effector (116) into and out of the patient can be facilitated by the ultrasonic surgical instrument (14), it will be understood that in one or more embodiments, such insertion and withdrawal may also occur via an adjustable arm support (30).

[0029] This embodiment of the instrument driver (66) shows a drive output unit (68) positioned within a rotary assembly (70) such that the end effector (116) protrudes distally from the shaft assembly (114). However, an alternative instrument driver (not shown) may include a drive output unit (68) positioned in an alternative rotary assembly (70) such that it faces proximal to the distally protruding end effector (116). Thus, in such an embodiment, a surgical instrument (14) may have a distally facing drive input unit (80) for mounting to an instrument driver (66) that faces proximal in the opposite direction to that shown in Figure 5. Therefore, the present invention is not intended to be unnecessarily limited to the specific arrangement of the drive output unit (68) and drive input unit (80) shown in this embodiment, and any such arrangement may be used similarly to operably couple the drive output unit (68) and the drive input unit (80).

[0030] Various features configured to facilitate motion between the end effector (116) and the drive input (80) are described herein, but such features may additionally or alternatively include other structures configured to transmit motion along the shaft assembly (114), such as pulleys, cables, carriages, carriers, and / or shaft assemblies (114), including kinetic articulating rotating tools (KART). Furthermore, the instrument base (76) is configured to operably connect to an instrument driver (66) for driving the various features of the shaft assembly (114) and / or end effector (116), as will be discussed in more detail below, but it will be understood that in alternative embodiments, the shaft assembly (114) and / or end effector (116) may be operably connected to an alternative handle assembly (not shown). Such a handle assembly (not shown) may, in one embodiment, include a pistol grip (not shown) configured to be directly grasped and manipulated by a medical professional to drive the various features of the shaft assembly (114) and / or end effector (116). Therefore, the present invention is not intended to be unnecessarily limited to use with a device driver (66).

[0031] II. Exemplary Suction-Irrigation Surgical Instruments In some cases, it may be desirable to use various alternative surgical instruments equipped with the robotic systems (10, 28) described above, in addition to or instead of the surgical instrument (14). Such alternative surgical instruments may be desirable to provide improved operability and / or functionality when used with the robotic systems (10, 28). For example, as described above, the surgical instrument (14) may move between a retracted position and an extended position. Additionally, it may be beneficial to translate a portion of the surgical instrument (14) along a support structure to provide improved surgical access without increasing the dimensions of the surgical instrument (14). As also described above, the use of a rotational assembly (70) of a robotic arm (20, 32) may allow rotation of the entire surgical instrument (14) rather than just a specific structure of the surgical instrument (14).

[0032] One such embodiment of these alternative surgical instruments may also be referred to as a surgical stapler (210), and includes a second exemplary surgical instrument (210), which will be discussed in more detail below. Additional embodiments of alternative surgical instruments and / or related features for incorporating robotic systems (10, 28) are provided in U.S. Patent Application No. 16 / 946,363, “Articulation Mechanisms for Robotic Surgical Tools,” filed June 18, 2020; U.S. Patent Application No. 17 / 077,067, “Surgical Instrument and Carrier KART Supporting Ultrasonic Transducer,” filed October 22, 2020; U.S. Patent Application No. 17 / 077,086, “Carrier KART and Jaw Closure of an Ultrasonic Surgical Instrument,” filed October 22, 2020; and “Surgical Instrument with Clamping Sensor Feedback and Related U.S. Patent Application No. 17 / 077,130, entitled "Methods", U.S. Patent Application No. 17 / 077,136, entitled "Surgical Instrument with Non-clamping Sensor Feedback and Related Methods", filed on October 22, 2020, U.S. Patent Application No. 17 / 077,250, entitled "Ultrasonic Surgical Instrument with a Carrier KART and Reusable Stage", filed on October 22, 2020, U.S. Patent Application No. 17 / 077, entitled "Surgical Instrument with a Carrier KART and Various Communication Cable Arrangements", filed on October 22, 2020U.S. Patent Application No. 373, U.S. Patent Application No. 17 / 077,139, “Ultrasonic Surgical Instrument with a Fixed Transducer Grounding,” filed on October 22, 2020; U.S. Patent Application No. 17 / 077,146, “Ultrasonic Surgical Instrument with a Shaft Assembly and Elongated Waveguide Support Arrangement,” filed on October 22, 2020; U.S. Patent Application No. 17 / 077,152, “Damping Rings for an Ultrasonic Surgical Instrument,” filed on October 22, 2020; U.S. Patent Application No. 17 / 077,110, “Ultrasonic Surgical Instrument with a Mid-shaft Closure System and Related Methods,” filed on October 22, 2020; “Surgical Instrument with an Articulatable Shaft This is described in U.S. Patent Application No. 17 / 076,956, entitled “Assembly and Dual End Effector Roll,” U.S. Patent Application No. 17 / 076,959, entitled “Ultrasonic Surgical Instrument with a Distally Grounded Acoustic Waveguide,” filed October 22, 2020, and / or U.S. Patent Application No. 17 / 077,098, entitled “Ultrasonic Surgical Instrument with a Multiplanar Articulation Joint,” filed October 22, 2020. Each of the disclosures of the above-mentioned U.S. Patent Applications is incorporated herein by reference in its entirety. Various features of alternative embodiments of these surgical instruments can be readily incorporated into surgical robotic systems, such as robotic systems (10, 28), and therefore, the present invention is not intended to be unnecessarily limited to these specific alternative surgical instruments discussed herein.

[0033] A. Overview Figure 7 shows an exemplary surgical instrument (210) that may incorporate some or all of the principles of this disclosure. The surgical instrument (210) may be similar in some respects to any of the instruments described above with reference to Figures 1 to 6B, and therefore may be used in conjunction with robotic surgical systems, such as the robotic systems (10, 28) in Figures 1 to 6B. As illustrated, the surgical instrument (210) includes an elongated shaft assembly (212) and an end effector (214) positioned at the distal end of the shaft assembly (212).

[0034] The surgical instrument (210) may have any of a variety of configurations capable of performing one or more surgical functions. In this embodiment, the surgical instrument (210) is a suction-irrigation surgical instrument (210), in particular, having an end effector (214) comprising a distal opening (215) configured to apply suction and / or irrigation to the surgical site. Additionally or alternatively, the end effector (214) may comprise, but are not limited to, other types of instruments requiring opposing jaws, such as surgical staplers (e.g., circular staplers and linear staplers), tissue grippers, surgical scissors, advanced energy vascular sealers, clip applicators, needle holders, Babcocks including a pair of opposing gripping jaws, bipolar jaws (e.g., bipolar Maryland grippers, forceps, fenestrated grippers, etc.), endoscopes (e.g., cameras), ultrasound instruments, RF instruments, or any combination thereof.

[0035] The surgical instrument (210) includes an instrument base (216) with a mounting interface (218) that is operable in the same manner as the instrument base (76) and mounting interface (78) described above. The mounting interface (78) further includes one or more drive inputs (220) for coupling with one or more drive outputs, such as a drive output (68). The shaft assembly (212) extends from the center of the instrument base (216) with an axis substantially parallel to the axis of a drive input (220) similar to the drive input (68) discussed above. Thereafter, the shaft assembly (212) of the surgical instrument (14) is configured to rotate around its own longitudinal axis (222) during use, while also translating longitudinally along its axis (222) relative to the rotation assembly (70). As will be described in more detail below, the surgical instrument (210) further includes a valve adapter (224). The valve adapter (224) is configured to fluidly couple one or more additional features to the end effector (214) via a shaft assembly (212), and further to provide operational control of the valve adapter (224) by an instrument driver (66).

[0036] As discussed above, a table-based robotic system (10, 28) (see Figures 1 and 2) has a tower (not shown) and / or table (16, 34) (see Figures 1 and 2) with processing, computing, and / or control capabilities provided at least partially by a central processing unit (CPU) such as a processor (260) and memory (262). The processor (260) and memory (262) generate, store, and / or communicate signals between the tower (not shown) and / or table (16, 34) (see Figures 1 and 2), such as between one or more sensors, towers (not shown), or tables (16) (see Figure 1), as described below. Although the processor (260) and memory (262) in this embodiment are shown coupled to the instrument base (216), it should be understood that the processor (260) and memory (262) may instead be coupled to or housed within any part of a surgical instrument (210), a tower (not shown), or a table (16, 34) (see Figures 1 and 2).

[0037] The valve adapter (224) shown in Figures 8 and 9 is configured to be fluidly and operably coupled to a valve assembly (226) or other similarly operable device to provide one or more fluid connections between the valve adapter (224), the valve assembly (226), and the end effector (214). Thus, the proximal face (232) of the valve adapter (224) is configured to engage with the distal face (234) of the valve assembly (226) using a latch connector (236) and a latch (238) such that the outlet (240) of the valve assembly (226) is fluidly coupled to the lumen (258) of the valve adapter (224) via the input opening (242). One or more fluid connections may be, for example, a first connection for receiving suction from a vacuum (or "suction") source (228) and a second connection for receiving fluid from a fluid (or "irrigation") source (230). As will be described in more detail below, each of the vacuum source (228) and the fluid source (230) may be coupled to the surface of the valve assembly (226), and therefore the valve assembly (226) may be operable to selectively couple one or both of the vacuum source (228) and the fluid source (230) to the end effector (214) when instructed by the instrument driver (66). Thus, when fluid or suction from the vacuum source (228) and the fluid source (230) is activated, any such fluid or suction is sent through the valve chamber or internal lumen (326) of the valve assembly (226) to the input opening (242) of the valve adapter (224), and flows through the inner lumen (258) of the valve adapter (224) into the proximal portion of the shaft assembly (212) (see, for example, Figures 13A-13C).

[0038] To direct the operation of the valve assembly (226), one or more pull cables (244, 246) may be operably coupled between the fixture base (216) and the valve adapter (224). Figure 10 shows the valve adapter (224) with a portion of the outer housing removed for clarity. As shown, the pull cables (244, 246) may be selectively operable to direct the motion of the respective pinions (248, 250) operably coupled to the respective racks (252, 254). Thus, the longitudinal translation of the pull cables (244, 246) along the axis (222) converts the longitudinal motion of the pull cables (244, 246) into the rotational motion of the pinions (248, 250), which is then converted back into the longitudinal motion of the racks (252, 254). As will be described in more detail below, the racks (252, 254) are further configured to provide input motion to the valve assembly (226) by extending longitudinally through the openings (253, 255) of the valve adapter (see Figure 8) into the openings (256, 258) of the valve assembly (226) (see Figure 11), and by retracting into them.

[0039] B. Spool valve assembly In some variations of the surgical instrument (210), the valve assembly (226) may be configured and operable as a spool valve assembly (226). Figure 12 shows the spool valve assembly (226) with a portion of the outer housing body removed for clarity. As shown, the spool valve assembly (226) includes a valve body (300) and a pair of racks (302, 303) configured to translate longitudinally when directed by the racks (252, 254) of the valve adapter (224). The valve body (300) has one or more ports, such as a vacuum inlet opening (304) and a fluid inlet opening (305), and one outlet opening (306). The proximal ends of the racks (252, 254) of the valve adapter (224) abut against the distal ends of the racks (302, 303) of the spool valve assembly (226), causing the racks (302, 303) to be translated longitudinally, which in turn causes the pinions (307, 308) of the spool valve assembly (226) to rotate. Each pinion (307, 308) is coupled to one of the valve inputs, specifically, an input from the vacuum source (228) or an input from the fluid source (230). Each pinion (307, 308) is further coupled to a second set of racks (310, 312) attached to the fluid projection (314) and the vacuum projection (316), respectively. The fluid projection (314) and vacuum projection (316) are operably coupled to pinions (307, 308) and are configured to translate substantially equal to and opposite to the longitudinal direction of the racks (302, 303) when robotically driven via the racks (252, 254). In other words, the fluid projection (314) and vacuum projection (316) generally follow the movement of the racks (310, 312), and in this respect provide a visual indication of valve setting for suction or irrigation. In addition or alternatively, the robotic movement may be disabled, and the fluid and vacuum projections (314, 316) may be manually grasped and moved as desired to achieve suction or irrigation.

[0040] Therefore, for example, when the first rack (302) translates proximal to rotate the first pinion (307), the fluid inlet spool valve plug (318) (see Figures 13A-13C) from the fluid source (230) opens, thereby connecting the shaft assembly (212) to the fluid source (230). The fluid projection (314) moves further to connect with the pinion (307) and thus moves distally in correlation with the first rack (302) which translates proximal to, as discussed above. Similarly, when the second rack (303) translates proximal to rotate the second pinion (308), the vacuum inlet spool valve plug (320) (see Figures 13A-13C) from the vacuum source (228) opens, thereby connecting the shaft assembly (212) to the vacuum source (228). The vacuum projection (316) operates to couple with the pinion (308) and thus moves distally in correlation with the second rack (303), which translates proximal to the pinion, as discussed above. According to these features, the spool valve assembly (226) is operated by the pull cables (244, 246) by the instrument base (216). As shown in this embodiment, the vacuum inlet spool valve plug (320) and the fluid inlet spool valve plug (318) are positioned within the valve body (300) to be movable to several predetermined positions for a desired fluid flow, which are described in more detail below.

[0041] Figures 13A to 13C illustrate three different combinations of valve positions for the spool valve assembly (226). Figure 13A shows the spool valve assembly (226) in a first configuration, where both the fluid inlet valve plug (318) and the vacuum inlet valve plug (320), each coupled to a vacuum source (228) or a fluid source (230), are in the closed position. Springs (322, 324), such as compression springs, act to bias the valve plugs (318, 320) and racks (302, 303) to the proximal position until the pull cables (244, 246) selectively pull one or both racks (302, 303) distally using the valve adapter (224) as described above. In the closed position, the vacuum source (228) and the fluid source (230) are fluid-disconnected from the shaft assembly (212) and distal opening (215) of the end effector (214), which may also be referred to herein as “fluid-disconnected.” More specifically, the outlet opening (306) and valve adapter (224) of the spool valve assembly (226) are disconnected from both the vacuum inlet opening (304) and the fluid inlet opening (305). Figure 13B shows a spool valve assembly (226) in a second configuration in which the fluid inlet spool valve plug (318) is in an open position to fluid-connect the fluid source (230) and the fluid inlet opening (305) to the outlet opening (306) for fluid communication through them, while the vacuum inlet spool valve plug (320) remains in the closed position. Figure 13C shows a spool valve assembly (226) in which the vacuum inlet spool valve plug (320) is in an open position (318) to fluid-couple the vacuum source (228) and the vacuum inlet opening (304) to the outlet opening (306) for fluid communication through them, while the fluid inlet spool valve plug (318) remains in a closed position, in a third configuration.

[0042] III. Exemplary Methods for Priming Suction-Irrigation Surgical Instruments with Fluid In some embodiments, it may be desirable to prime the surgical instrument (210) with fluid from a fluid source (230) before first use, or in certain circumstances during operation. For example, before operating the surgical instrument (210), processing, computing, and / or control capabilities housed in one or both of the tower (not shown) or tables (16, 34) (see Figures 1 and 2) cycle the fluid inlet valve plug (318) and vacuum inlet valve plug (320) to fully open and fully closed positions, thereby determining these specific fully open and fully closed positions which may be unique to this particular surgical instrument (210). Such determination may also be referred to herein as “homing” the fluid inlet valve plug (318) and vacuum inlet valve plug (320). Furthermore, before operating the surgical instrument (210), the fluid source (230) is fluid-coupled to the valve assembly (226) via one or more fluid lines (350) (see Figure 12). The fluid lines (350) may be, for example, medical-grade tubing commonly used for administering fluid to a patient. When the fluid lines (350) are coupled to the valve assembly (226) and thereby allow fluid from the fluid source (230), such as irrigation fluid, to communicate, it may be desirable to prime the fluid lines (350) to remove any unwanted air bubbles or to pre-fill them by circulating a portion of the fluid through the fluid lines (350). More specifically, it may be desirable to prime the fluid lines (350) without discharging fluid from the outlet opening (306) and therefore from the end effector (214) via the shaft assembly (212). Therefore, such priming may occur contemporaneously with the fluid inlet valve plug (318) and the vacuum inlet valve plug (320), for example, before using a surgical instrument (210) on a patient.

[0043] Therefore, Figure 14 shows another combination of valve positions for the spool valve assembly (226). Figure 14 shows the spool valve assembly (226) in a fourth configuration in which both the fluid inlet valve plug (318) and the vacuum inlet valve plug (320), each coupled to a vacuum source (228) or a fluid source (230), are moved to the open position. As described above, the springs (322, 324) act to bias the valve plugs (318, 320) and racks (302, 303) to the proximal position until the pull cables (244, 246) using the valve adapter (224) selectively bias one or both racks (310, 312) distally. In the open position, the vacuum source (228) and the fluid source (230) are fluid-coupled to the shaft assembly (212) and distal opening (215) of the end effector (214), respectively, which may also be referred to herein as fluid communication. More specifically, the outlet opening (306) and valve adapter (224) of the spool valve assembly (226) are fluid-coupled to the vacuum and fluid inlet openings (304, 305). Alternatively, the valve assembly (226) may be configured to fluidly close the distal opening (215) from the inner lumen (326) and / or outlet opening (306) while priming a surgical instrument (210). It will be understood that the present invention is not intended to unnecessarily limit the fluid connection or disconnection of the valve assembly (226) and the outlet opening (306) while priming a surgical instrument (210).

[0044] In the fourth configuration shown in Figure 14, the operation of the vacuum source (228) and the fluid source (230) causes the fluid from the fluid source (228) to be transferred directly to the vacuum source (228) across the inner lumen (326) rather than communicating through the outlet opening (306) toward the shaft assembly (212) and end effector (214). To ensure that the fluid from the fluid source (230) does not communicate through the outlet opening (306), the vacuum source (228) is appropriately equipped with a vacuum inlet diameter larger than the vacuum strength and / or fluid inlet diameter that can vacuum all the fluid from the fluid source (230) into the fluid reservoir or an outlet (not shown) associated with the vacuum source (228). This priming procedure can generally be achieved to fill the fluid line (350) before the start of surgery using surgical instruments (210). However, in some cases, such as when the fluid source (230) encounters a problem and delivers an irregular fluid stream (for example, a fluid stream that typically contains a large number of air bubbles) that requires further priming, it may be desirable to repeat this priming procedure during surgery.

[0045] Figure 15 shows an exemplary method (400) for priming the fluid line (350) of a surgical instrument (210) before operation. First, in step (402), the surgical instrument (210) is coupled to the outlet opening (306) of the valve assembly (226). Next, in steps (404) and (406), the fluid source (230) and the vacuum source (228) are coupled to the valve assembly (226) via the vacuum inlet opening (304) and the fluid inlet opening (305), respectively. In this way, the fluid source (230) is fluid-coupled to the inner lumen (326) in response to the operation of the valve plug (318) to move the valve plug (318) from the closed position (see Figure 13A) to the open position (see Figure 14), such as while the surgical instrument (210) is being homed. Furthermore, while homing a surgical instrument (210), the vacuum source (228) is fluidly coupled to the inner lumen (326) in accordance with the operation of the valve plug (320) to move it from the closed position (see Figure 13A) to the open position (see Figure 14). In steps (408) and (410), the vacuum source (228) and the fluid source (230) can be activated to provide vacuum suction and fluid, respectively, to the vacuum inlet opening (304) and the fluid inlet opening (305).

[0046] In step (412), the fluid inlet valve plug (318) and the vacuum inlet valve plug (320) are moved from the closed position to the open position, thereby fluidically communicating the fluid and vacuum with the inner lumen (326). In some modifications, the fluid inlet valve plug (318) and the vacuum inlet valve plug (320) are moved to the open position simultaneously to prevent any fluid from the fluid inlet opening (305) from communicating with the outside of the valve assembly (226) through the outlet opening (306). In other modifications, the vacuum inlet valve plug (320) is moved first to ensure that by the time the fluid inlet valve plug (318) moves and supplies fluid to the fluid inlet opening (305), vacuum suction is already operating in the inner lumen (326) and is in a state of vacuum drawing the fluid out through the vacuum inlet (320). Next, if it is necessary to prime the fluid line (350) in step (414), the inlet valve plugs (318, 320) may be held in their respective open positions to allow the fluid to be transferred out through the vacuum inlet (320). The time required to prime the fluid line is variable based on specific factors and circumstances, such as the size and length of the fluid line (350), but can be calculated based on a known factor as a predetermined residence time and / or determined experimentally. One or more predetermined residence times may be stored in a tower (not shown) and / or a table (16, 34) (see Figures 1 and 2). For example, a processor (260) and a memory storage device (262) may include predetermined residence times, and the processor (260) may be configured to selectively move the valve assembly (226) to a second configuration over the predetermined residence time. Therefore, the inlet valve plugs (318, 320) can be held in their respective open positions for a predetermined residence time, whether manually or automatically, as instructed by the processor (260), allowing the fluid to be transferred out through the vacuum inlet (320) over the course of the process (414).

[0047] Next, in step (416), the fluid inlet valve plug (318) and the vacuum inlet valve plug (320) are moved from the open position to the closed position, thereby fluid-disconnecting the fluid and vacuum from the inner lumen (326). In some modifications, the fluid inlet valve plug (318) and the vacuum inlet valve plug (320) are moved to the closed position simultaneously to prevent any residual fluid from the fluid inlet opening (305) from communicating with the outside of the valve assembly (226) through the outlet opening (306). In other modifications, the fluid inlet valve plug (318) is moved first to ensure that all fluid from the fluid source (230) is removed through the vacuum inlet (320). Subsequently, in step (418), the fluid line (350) is primed so that the surgical instrument (210) can be operated or the surgical procedure can continue otherwise.

[0048] In one embodiment, after priming the surgical instrument (210), the completion of this priming to a primed state is stored in the memory (262) of the surgical instrument (210), a tower (not shown), and / or a table (16) (see Figure 1), or in a table-based robotic system (28) (see Figure 1). If the use of the surgical instrument (210) is paused, and / or the valve assembly (226) is removed from the valve adapter (224) (see Figure 7), another mode of action may be performed on the patient, followed by reconnection and use of the surgical instrument (210) with the valve assembly (226). Thus, depending on the use of the surgical instrument (210) with the valve assembly (226), the primed state is known and not repeated as instructed by the CPU (260) (see Figure 7) to be processed in the tower (not shown) and / or table (16) (see Figure 1).

[0049] In some variations, the valve assembly (226) may include one or more sensors (not shown) that can sense whether fluid has been transferred from the fluid inlet opening (305) to the inner lumen (326) to ensure that the priming process described with respect to Figures 14 and 15 is completed before the operation of the surgical instrument (210). Thus, the sensors (not shown) may be communicably coupled, via either sensor wires or wirelessly, to the surgical processor (260) and memory (262) of the instrument (210), the tower (not shown) and / or table (16) (see Figure 1) of the table-based robotic system (10) (see Figure 1), to inform the table-based robotic system (10) and / or operator that the priming method (400) is not yet complete or that it needs to be repeated because the priming method (400) is not complete.

[0050] IV. Exemplary Combinations The following embodiments relate to various non-exclusive methods by which the teachings herein can be combined or applied. It should be understood that the following embodiments are not intended to limit the claims that may be presented at any point in this application or any subsequent application thereof. No waiver of any rights is intended. The following embodiments are provided solely for illustrative purposes. Various teachings herein are intended to be constructed and applied in many other ways. Also intended to be that in some modifications certain features mentioned in the following embodiments may be omitted. Accordingly, none of the embodiments or features mentioned below should be considered important unless they are subsequently expressly indicated so by the inventors or their heirs. If the claims presented in this application or any subsequent application relating to this application include additional features other than those mentioned below, those additional features should not be considered added for any reason relating to patentability. [Examples]

[0051] A method for priming a surgical instrument with a fluid, wherein the surgical instrument comprises (a) a shaft assembly including a lumen, and (b) a valve assembly comprising (i) a first inlet configured to receive fluid from a fluid source, (ii) a second inlet configured to receive suction from a vacuum source, (iii) an outlet in fluid communication with the lumen, (iv) a valve chamber, and (v) at least one valve plug configured to selectively fluidize at least two of the outlet, the first inlet, and the second inlet via the valve chamber, wherein the method comprises (a) a fluid source A method comprising: (b) activating a vacuum source to provide fluid to a first inlet; (c) moving at least one valve plug from a first position to a second position, wherein (i) in the first position, the fluid source and the vacuum source are each defluxed from the valve chamber; and (ii) in the second position, the fluid source and the vacuum source are each in fluid communication with the valve chamber; and (d) transferring a first portion of the fluid from the first inlet through the second inlet toward the vacuum source via suction, thereby priming a surgical instrument. [Examples]

[0052] The method according to Embodiment 1, wherein moving at least one valve plug from a first position to a second position includes simultaneously opening a first inlet and a second inlet. [Examples]

[0053] The method according to either Example 1 or 2, further comprising moving at least one valve plug from a second position to a first position after transferring a first portion of the fluid from a first inlet toward a vacuum source. [Examples]

[0054] The method according to Embodiment 3, wherein moving at least one valve plug from a second position to a first position includes simultaneously closing the first inlet and the second inlet. [Examples]

[0055] The method according to any one of Examples 1 to 4, wherein at least one valve plug includes (a) a fluid valve plug that can be selectively operated to open and close a first inlet, and (b) a vacuum valve plug that can be selectively operated to open and close a second inlet. [Examples]

[0056] The method according to Embodiment 5, wherein the fluid valve plug and the vacuum valve plug are biased toward the fluid closed position and the vacuum closed position, respectively, and in the fluid closed position and the vacuum closed position, the fluid source and the vacuum source are fluid-disconnected from the valve chamber, respectively. [Examples]

[0057] The method according to Embodiment 6, wherein the fluid valve plug and the vacuum valve plug are each biased toward the fluid closed position and the vacuum closed position by one or more compression springs. [Examples]

[0058] The method according to any one of Examples 1 to 7, further comprising transferring a first portion of a fluid from a first inlet to a vacuum source through a second inlet for a predetermined residence time via suction, thereby priming a surgical instrument. [Examples]

[0059] The method according to any one of Examples 1 to 8, wherein the surgical instrument further includes an end effector extending distally from the shaft assembly, the end effector including an opening fluidly connected to a lumen. [Examples]

[0060] The method according to any one of Examples 1 to 9, wherein the surgical instrument further includes a fluid supply line for fluid coupling a fluid source to a first inlet, and at a second position, a portion of the fluid is transferred toward a vacuum source to prime the fluid supply line. [Examples]

[0061] The method according to Example 10, wherein in the second position, a vacuum source sucks all of the fluid passing through the first inlet through the second inlet. [Examples]

[0062] The method according to any one of Examples 1 to 11, further comprising: transferring a first portion of fluid from a first inlet toward a vacuum source; then moving at least one valve plug from a second position to a first position; and moving at least one valve plug from a first position to a third position, wherein in the third position the fluid source is fluid-coupled to the valve chamber and the vacuum source is fluid-discoupled from the valve chamber. [Examples]

[0063] The method according to any one of Examples 1 to 12, further comprising: transferring a first portion of fluid from a first inlet toward a vacuum source; then moving at least one valve plug from a second position toward a first position; and moving at least one valve plug from a first position toward a fourth position, wherein in the fourth position the fluid source is defluxed from the valve chamber and the vacuum source is fluid-coupled to the valve chamber. [Examples]

[0064] The method according to any one of Examples 1 to 13, further comprising a rotary drive member configured to be rotatably driven about a drive axis via a linear actuator, wherein the surgical instrument is operably connected to a linear actuator, and the rotary drive member is driven by at least one robotic arm movable relative to a patient support. [Examples]

[0065] The method according to any one of Examples 1 to 14, further comprising a linear actuator having a shaft assembly that extends along a longitudinal axis and is configured to selectively translate with respect to the longitudinal axis, wherein the linear actuator is operably connected to a rotary drive member and is configured to selectively induce rotation of the rotary drive member. [Examples]

[0066] A robotic surgical system comprising: (a) a shaft assembly including a lumen; (b) a valve assembly comprising: (i) a first inlet configured to receive fluid from a fluid source in connection with a fluid supply line; (ii) a second inlet configured to receive suction from a vacuum source; (iii) an outlet in fluid communication with the lumen; (iv) a valve chamber; (v) a fluid valve plug configured to selectively fluidize the fluid source to the valve chamber via the first inlet; and (vi) a vacuum valve plug configured to selectively fluidize the vacuum source to the valve chamber via the second inlet. A robotic surgical system comprising a valve assembly and a valve assembly configured to operate in a first configuration and a second configuration, wherein (i) in the first configuration, both the fluid valve plug and the vacuum valve are closed, thereby fluidly discouple the fluid source and vacuum source from the valve chamber, and (ii) in the second configuration, both the fluid valve plug and the vacuum valve plug are open, thereby fluidly coupling the fluid source and vacuum source to the valve chamber, so that the vacuum source suction sucks all the fluid passing through the inlet port through the second inlet. [Examples]

[0067] The surgical apparatus according to Embodiment 16, further comprising a processor and a memory storage device including a predetermined residence time, wherein the processor is configured to selectively move a valve assembly to a second configuration over the predetermined residence time. [Examples]

[0068] A surgical apparatus according to either Example 16 or 17, wherein the fluid valve plug and the vacuum valve plug are operable to open and close simultaneously. [Examples]

[0069] A surgical device according to any one of Examples 16 to 18, wherein the valve assembly is configured to operate in a third configuration and a fourth configuration, (a) in the third position, the first inlet is fluid-coupled to the valve chamber and the second inlet is fluid-discoupled from the valve chamber, and (b) in the fourth position, the first inlet is fluid-discoupled from the valve chamber and the second inlet is fluid-coupled to the valve chamber. [Examples]

[0070] A method for priming a surgical instrument with fluid, wherein the surgical instrument comprises (a) a shaft assembly including a lumen, (b) a valve assembly comprising (i) a first inlet configured to receive fluid from a fluid source, (ii) a second inlet configured to receive suction from a vacuum source, (iii) an outlet communicating with fluid to the lumen, (iv) a valve chamber, and (v) a fluid valve plug selectively operable to open and close the first inlet, and (vi) a vacuum valve plug selectively operable to open and close the second inlet, wherein the method comprises (a) acting the fluid source to provide fluid to the first inlet, (b) acting the vacuum source to provide suction to the second inlet, and (c) a vacuum valve A method comprising: moving a plug from a first vacuum valve position to a second vacuum valve position, wherein (i) in the first vacuum valve position the vacuum source is defluxed from the valve chamber, and (ii) in the second vacuum valve position the vacuum source is in fluid communication with the valve chamber; (d) moving a fluid valve plug from a first fluid valve position to a second fluid valve position, wherein (i) in the first fluid valve position the fluid source is defluxed from the valve chamber, and (ii) in the second fluid valve position the fluid source is in fluid communication with the valve chamber; and (d) directly transferring fluid from a first inlet through a second inlet toward a vacuum source via suction, thereby priming a surgical instrument.

[0071] VI. Others Any one or more of the teachings, expressions, embodiments, examples, etc. described herein may be combined with any one or more of the teachings, expressions, embodiments, examples, etc. described herein in U.S. Patent Application [Agent Reference Number END9329USNP1], filed on the same day as this specification and incorporated herein in whole by reference.

[0072] Any patents, publications, or other disclosures, in whole or in part, that are referred to as being incorporated by reference herein shall be incorporated herein only to the extent that the incorporated content does not contradict existing definitions, views, or other disclosures contained herein. Any disclosure expressly stated herein, either in itself or to the extent necessary, shall take precedence over any conflicting statements incorporated herein by reference. Any content, or any portion thereof, that is referred to as being incorporated herein but contradicts current definitions, views, or other disclosures contained herein shall be incorporated only to the extent that the incorporated content does not create a conflict with the current disclosures.

[0073] The above-described modifications may be designed to be discarded after a single use, or they may be designed to be used multiple times. In either or both cases, the modifications may be readjusted for reuse after at least one use. Readjustment may include any combination of steps of disassembling the system, apparatus, and / or parts thereof, followed by cleaning or replacing specific parts, and then reassembling. Specifically, some modifications of the system, apparatus, and / or parts thereof may be disassembled, and any number of specific parts or components of the system, apparatus, and / or parts thereof may be selectively replaced or removed in any combination. Depending on the cleaning and / or replacement of specific parts, some modifications of the system, apparatus, and / or parts thereof may be reassembled for subsequent use in a readjustment facility or by an operator immediately before the procedure. Those skilled in the art will understand that readjusting the system, apparatus, and / or parts thereof may utilize various techniques for disassembly, cleaning / replacement, and reassembly. The use of such technology and the resulting readjusted systems, apparatus, and / or parts thereof are all within the scope of this application.

[0074] For illustrative purposes only, the modifications described herein may be sterilized before and / or after the procedure. In one sterilization technique, the system, instrument, and / or parts thereof are placed in a closed and sealed container, such as a plastic or TYVEK bag. The container, as well as the system, instrument, and / or parts thereof, may then be placed in a radiation field that can penetrate the container, such as gamma rays, X-rays, or high-energy electron beams. The radiation can kill bacteria in the system, instrument, and / or parts thereof, as well as in the container. The sterilized system, instrument, and / or parts thereof may then be stored in a sterile container for later use. The system, instrument, and / or parts thereof may also be sterilized using any other technique known in the art, including but not limited to beta or gamma rays, ethylene oxide, or vapor.

[0075] While various embodiments of the present invention have been described, further adaptations of the methods and systems described herein can be achieved without departing from the scope of the invention by appropriate modifications by those skilled in the art. Some of such possible modifications have been described, but other modifications will be obvious to those skilled in the art. For example, the examples, embodiments, geometric shapes, materials, dimensions, proportions, processes, etc., discussed above are illustrative and not essential. Accordingly, the scope of the present invention should be considered with respect to the following claims and is not limited to the details of the structures and operations shown and described herein and in the drawings.

[0076] [Implementation Method] (1) A method for priming a surgical instrument with a fluid, the surgical instrument comprising: (a) a shaft assembly including a lumen; (b) a valve assembly comprising: (i) a first inlet configured to receive the fluid from a fluid source; (ii) a second inlet configured to receive suction from a vacuum source; (iii) an outlet in fluid communication with the lumen; (iv) a valve chamber; and (v) at least one valve plug configured to selectively fluidize at least two of the outlet, the first inlet, and the second inlet via the valve chamber, the method is (a) Operating the fluid source to provide the fluid to the first inlet, (b) Activating the vacuum source to provide the suction to the second inlet, (c) Moving at least one valve plug from a first position to a second position, (i) In the first position, the fluid source and the vacuum source are each decoupled from the valve chamber, (ii) In the second position, the fluid source and the vacuum source are to be moved to fluid communication with the valve chamber, (d) A method comprising transferring a first portion of the fluid from the first inlet through the second inlet toward the vacuum source via the suction, thereby priming the surgical instrument. (2) The method according to Embodiment 1, wherein moving the at least one valve plug from a first position to a second position includes simultaneously opening the first inlet and the second inlet. (3) The method according to Embodiment 1, further comprising moving the at least one valve plug from the second position to the first position after transferring the first portion of the fluid from the first inlet toward the vacuum source. (4) The method according to Embodiment 3, wherein moving the at least one valve plug from the second position to the first position includes simultaneously closing the first inlet and the second inlet. (5) The at least one valve plug, (a) A fluid valve plug that is selectively operable to open and close the first inlet, (b) The method according to Embodiment 1, comprising a vacuum valve plug that is selectively operable to open and close the second inlet.

[0077] (6) The method according to Embodiment 5, wherein the fluid valve plug and the vacuum valve plug are biased toward the fluid closed position and the vacuum closed position, respectively, and in the fluid closed position and the vacuum closed position, the fluid source and the vacuum source are fluid-disconnected from the valve chamber, respectively. (7) The method according to embodiment 6, wherein the fluid valve plug and the vacuum valve plug are each biased toward the fluid closed position and the vacuum closed position by one or more compression springs. (8) The method according to Embodiment 1, further comprising transferring a first portion of the fluid from the first inlet to the vacuum source through the second inlet for a predetermined residence time via the suction, thereby priming the surgical instrument. (9) The method according to Embodiment 1, wherein the surgical instrument further includes an end effector extending distally from the shaft assembly, the end effector including an opening fluidly connected to the lumen. (10) The method according to Embodiment 1, wherein the surgical instrument further includes a fluid supply line for fluid coupling the fluid source with the first inlet, and at the second position, the portion of the fluid is transferred toward the vacuum source to prime the fluid supply line.

[0078] (11) The method according to embodiment 10, wherein at the second position, the vacuum source sucks all of the fluid passing through the first inlet through the second inlet. (12) After transferring the first portion of the fluid from the first inlet toward the vacuum source, move the at least one valve plug from the second position to the first position, The method according to Embodiment 1, further comprising moving the at least one valve plug from a first position to a third position, wherein in the third position, the fluid source is fluid-coupled to the valve chamber and the vacuum source is fluid-discoupled from the valve chamber. (13) After transferring the first portion of the fluid from the first inlet toward the vacuum source, move the at least one valve plug from the second position to the first position, The method according to Embodiment 1, further comprising moving the at least one valve plug from the first position to the fourth position, wherein in the fourth position, the fluid source is defluidally discoupled from the valve chamber and the vacuum source is fluidly coupled to the valve chamber. (14) The method according to Embodiment 1, wherein the surgical instrument further includes a rotary drive member configured to be operably connected to a linear actuator and to be driven via the linear actuator so as to be rotatable about a drive axis, the rotary drive member being driven by at least one robotic arm movable relative to a patient support. (15) The method according to Embodiment 1, wherein the shaft assembly further includes a linear actuator extending along a longitudinal axis and configured to selectively translate with respect to the longitudinal axis, the linear actuator being operably connected to the rotary drive member and configured to selectively induce rotation of the rotary drive member.

[0079] (16) A robotic surgical system, (a) A shaft assembly including lumens, (b) A valve assembly, (i) A first inlet configured to receive fluid from a fluid source, coupled to a fluid supply line, (ii) A second inlet configured to accept suction from a vacuum source, (iii) An outlet that is in fluid communication with the lumen, (iv) Valve chamber and (v) A fluid valve plug configured to selectively fluidize the fluid source to the valve chamber via the first inlet, (vi) A valve assembly comprising a vacuum valve plug configured to selectively fluidize the vacuum source to the valve chamber via the second inlet, The valve assembly is configured to operate in a first configuration and a second configuration. (i) In the first configuration, both the fluid valve plug and the vacuum valve plug are closed, thereby disengaging the fluid coupling between the fluid source and the vacuum source from the valve chamber. (ii) In the second configuration, both the fluid valve plug and the vacuum valve plug are open, thereby fluidly coupling the fluid source and the vacuum source with the valve chamber, so that the vacuum source draws all of the fluid passing through the inlet port through the second inlet, a robotic surgical system. (17) The surgical apparatus according to Embodiment 16, further comprising a processor and a memory storage device including a predetermined residence time, wherein the processor is configured to selectively move the valve assembly to the second configuration over the predetermined residence time. (18) The surgical apparatus according to embodiment 16, wherein the fluid valve plug and the vacuum valve plug are operable to open and close simultaneously. (19) The valve assembly is configured to operate in a third configuration and a fourth configuration, (a) In the third position, the first inlet is fluid-coupled to the valve chamber, and the second inlet is fluid-discoupled from the valve chamber. (b) The surgical apparatus according to Embodiment 16, wherein in the fourth position, the first inlet is defluidally discoupled from the valve chamber and the second inlet is fluidly coupled to the valve chamber. (20) A method for priming a surgical instrument with a fluid, the surgical instrument comprising: (a) a shaft assembly including a lumen; (b) a valve assembly comprising: (i) a first inlet configured to receive the fluid from a fluid source; (ii) a second inlet configured to receive suction from a vacuum source; (iii) an outlet in fluid communication with the lumen; (iv) a valve chamber; (v) a fluid valve plug selectively operable to open and close the first inlet; and (vi) a vacuum valve plug selectively operable to open and close the second inlet, the method being (a) Operating the fluid source to provide the fluid to the first inlet, (b) Activating the vacuum source to provide the suction to the second inlet, (c) Moving the vacuum valve plug from the first vacuum valve position to the second vacuum valve position, (i) In the first vacuum valve position, the vacuum source is fluid-disconnected from the valve chamber, (ii) In the second vacuum valve position, the vacuum source is to be in fluid communication with the valve chamber, (d) Moving the fluid valve plug from the first fluid valve position to the second fluid valve position, (i) At the first fluid valve position, the fluid source is decoupled from the valve chamber, (ii) At the second fluid valve position, the fluid source is to be transferred to fluid communication with the valve chamber, (d) A method comprising transferring the fluid from the first inlet directly through the second inlet toward the vacuum source via the suction, thereby priming the surgical instrument.

Claims

1. A robotic surgical system, (a) A shaft assembly including lumens, (b) A valve assembly, (i) A first inlet configured to receive fluid from a fluid source in connection with a fluid supply line, (ii) A second inlet configured to accept suction from a vacuum source, (iii) An outlet that is in fluid communication with the lumen, (iv) Valve chamber and (v) A fluid valve plug configured to selectively fluidize the fluid source to the valve chamber via the first inlet, (vi) A valve assembly comprising a vacuum valve plug configured to selectively fluidize the vacuum source to the valve chamber via the second inlet, The valve assembly is configured to operate in a first configuration and a second configuration. (i) In the first configuration, both the fluid valve plug and the vacuum valve plug are closed, thereby disengaging the fluid coupling between the fluid source and the vacuum source from the valve chamber. (ii) In the second configuration, both the fluid valve plug and the vacuum valve plug are opened, thereby fluidly coupling the fluid source and the vacuum source with the valve chamber, so that the vacuum source sucks all of the fluid passing through the first inlet through the second inlet, a robotic surgical system.

2. The surgical apparatus according to claim 1, further comprising a processor and a memory storage device including a predetermined residence time, wherein the processor is configured to selectively move the valve assembly to the second configuration over the predetermined residence time.

3. The surgical apparatus according to claim 1, wherein the fluid valve plug and the vacuum valve plug are operable to open and close simultaneously.

4. The valve assembly is configured to operate in a third configuration and a fourth configuration, (a) In the third configuration, the first inlet is fluid-coupled to the valve chamber, and the second inlet is fluid-coupled away from the valve chamber. (b) The surgical apparatus according to claim 1, wherein in the fourth configuration, the first inlet is defluidally disconnected from the valve chamber and the second inlet is fluidly connected to the valve chamber.

5. A method for priming a surgical instrument with a fluid, the surgical instrument comprising: (a) a shaft assembly including a lumen; (b) a valve assembly comprising: (i) a first inlet configured to receive the fluid from a fluid source; (ii) a second inlet configured to receive suction from a vacuum source; (iii) an outlet fluid-communicating with the lumen; (iv) a valve chamber; and (v) at least one valve plug configured to selectively fluidize at least two of the outlet, the first inlet, and the second inlet via the valve chamber, the method is as follows: (a) Activating the fluid source to provide the fluid to the first inlet, (b) Activating the vacuum source to provide the suction to the second inlet, (c) Moving at least one valve plug from a first position to a second position, (i) In the first position, the fluid source and the vacuum source are each decoupled from the valve chamber, (ii) In the second position, the fluid source and the vacuum source are to be in fluid communication with the valve chamber, respectively, (d) A method comprising transferring a first portion of the fluid from the first inlet through the second inlet toward the vacuum source via the suction, thereby priming the surgical instrument.

6. The method according to claim 5, wherein moving the at least one valve plug from the first position to the second position includes simultaneously opening the first inlet and the second inlet.

7. The method according to claim 5, further comprising moving the at least one valve plug from the second position to the first position after transferring the first portion of the fluid from the first inlet toward the vacuum source.

8. The method according to claim 7, wherein moving the at least one valve plug from the second position to the first position includes simultaneously closing the first inlet and the second inlet.

9. The at least one valve plug, (a) A fluid valve plug that can be selectively operated to open and close the first inlet, (b) The method of claim 5, comprising a vacuum valve plug that is selectively operable to open and close the second inlet.

10. The method according to claim 9, wherein the fluid valve plug and the vacuum valve plug are biased toward a fluid closed position and a vacuum closed position, respectively, and in the fluid closed position and the vacuum closed position, the fluid source and the vacuum source are fluid-disconnected from the valve chamber, respectively.

11. The method according to claim 10, wherein the fluid valve plug and the vacuum valve plug are each biased toward the fluid closed position and the vacuum closed position by one or more compression springs.

12. The method according to claim 5, further comprising transferring a first portion of the fluid from the first inlet to the vacuum source through the second inlet for a predetermined residence time via the suction, thereby priming the surgical instrument.

13. The method according to claim 5, wherein the surgical instrument further includes an end effector extending distally from the shaft assembly, the end effector including an opening fluidly connected to the lumen.

14. The method according to claim 5, wherein the surgical instrument further includes a fluid supply line for fluid-coupled the fluid source to the first inlet, and at the second position, a first portion of the fluid is transported toward the vacuum source to prime the fluid supply line.

15. The method according to claim 14, wherein at the second position, the vacuum source sucks all of the fluid passing through the first inlet through the second inlet.

16. After transferring the first portion of the fluid from the first inlet toward the vacuum source, the at least one valve plug is moved from the second position to the first position, The method according to claim 5, further comprising moving the at least one valve plug from a first position to a third position, wherein in the third position, the fluid source is fluid-coupled to the valve chamber and the vacuum source is fluid-discoupled from the valve chamber.

17. After transferring the first portion of the fluid from the first inlet toward the vacuum source, the at least one valve plug is moved from the second position to the first position, The method according to claim 5, further comprising moving the at least one valve plug from a first position to a fourth position, wherein in the fourth position, the fluid source is defluidally discoupled from the valve chamber and the vacuum source is fluidly coupled to the valve chamber.

18. The method according to claim 5, wherein the surgical instrument further includes a rotary drive member configured to be operably connected to a linear actuator and to be driven via the linear actuator so as to be rotatable about a drive axis, the rotary drive member being driven by at least one robotic arm movable relative to a patient support.

19. The method according to claim 18, wherein the shaft assembly further includes a linear actuator extending along a longitudinal axis and configured to selectively translate with respect to the longitudinal axis, the linear actuator being operably connected to the rotary drive member and configured to selectively induce rotation of the rotary drive member.

20. A method for priming a surgical instrument with a fluid, wherein the surgical instrument includes (a) a shaft assembly including a lumen, (b) a valve assembly comprising (i) a first inlet configured to receive the fluid from a fluid source, (ii) a second inlet configured to receive suction from a vacuum source, (iii) an outlet in fluid communication with the lumen, (iv) a valve chamber, (v) a fluid valve plug selectively operable to open and close the first inlet, and (vi) a vacuum valve plug selectively operable to open and close the second inlet, and the method is (a) Activating the fluid source to provide the fluid to the first inlet, (b) Activating the vacuum source to provide the suction to the second inlet, (c) Moving the vacuum valve plug from the first vacuum valve position to the second vacuum valve position, (i) In the first vacuum valve position, the vacuum source is fluid-disconnected from the valve chamber, (ii) In the second vacuum valve position, the vacuum source is in fluid communication with the valve chamber, and the transition is made. (d) Moving the fluid valve plug from the first fluid valve position to the second fluid valve position, (i) At the first fluid valve position, the fluid source is decoupled from the valve chamber, (ii) At the second fluid valve position, the fluid source is to be transferred to fluid communication with the valve chamber, (d) A method comprising transferring the fluid from the first inlet through the second inlet toward the vacuum source via the suction, thereby priming the surgical instrument.

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