Reconfigurable robotic end effector system for medical procedures

Abstract

Disclosed herein is an end effector system and related methods and devices. The system includes a tool handler for effecting rotational movement and linear movement and a tool adapter for adapting a tool for use with the end effector system. The tool adapter includes: a housing for receiving at least a portion of the tool and thereby be removably mechanically coupled therewith; and a mating feature for mating with a corresponding mating feature of the tool handler and thereby be removably mechanically coupled therewith. When the tool adapter is mechanically coupled to the tool handler and mechanically coupled to the tool, the tool adapter transmits the rotational movement and the linear movement from the tool handler to the tool.

Description

RECONFIGURABLE ROBOTIC END EFFECTOR SYSTEM FOR MEDICAL PROCEDURESCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims all benefit including priority to U.S. Provisional Patent Application 63 / 472,464, filed June 12, 2023, and entitled “RECONFIGURABLE ROBOTIC END EFFECTOR SYSTEM FOR MEDICAL PROCEDURES”; the entire contents of which are hereby incorporated by reference herein.FIELD

[0002] This disclosure relates generally to robotics for medical procedures, and more specifically to a reconfigurable end effector system.BACKGROUND

[0003] Medical end effectors are devices used in medical procedures to manipulate tissue and / or tools. The use of robotic end effectors is becoming more prevalent in a variety of medical procedures such as biopsies, minimally invasive surgery, laparoscopic surgery, and robotic surgery, and so on. Robotic end effectors need to be very precise in manipulating tissue or tools, creating implementation challenges.Further, some medical procedures rely on real-time medical imaging guidance, and thus require robotic end effectors to operate within such settings, such as for example within a magnetic resonance imaging (MRI) machine, which creates further implementation challenges.SUMMARY

[0004] According to an aspect, there is provided an end effector system. The end effector system includes a tool handler for effecting rotational movement and linear movement, and a tool adapter for adapting a tool for use with the end effector system. The tool adapter includes a housing for receiving at least a portion of the tool and thereby be removably mechanically coupled therewith; and a mating feature for mating with a corresponding mating feature of the tool handler and thereby be removablymechanically coupled therewith. When the tool adapter is mechanically coupled to the tool handler and mechanically coupled to the tool, the tool adapter transmits the rotational movement and the linear movement from the tool handler to the tool.

[0005] According to another aspect, there is provided a tool adapter for adapting a tool to an end effector system. The tool adapter includes a housing for receiving at least a portion of a tool and thereby be removably mechanically coupled therewith; and a mating feature for mating with a corresponding mating feature of a tool handler of the end effector system and thereby be removably mechanically coupled therewith. When the tool adapter is mechanically coupled to the tool handler and mechanically coupled to the tool, the tool adapter transmits the rotational movement and the linear movement effected by the tool handler to the tool.

[0006] According to yet another aspect, there is provided a method of operating a reconfigurable end effector system. The method includes dismounting a first tool adapter mounted to a tool handler of the end effect system, the first tool adapter for adapting a first tool for use with the reconfigurable end effector system; selecting a second tool adapter for adapting a second tool for use with the reconfigurable end effector system, the first tool and the second tool of disparate types; placing at least a portion of the second tool into the second tool adapter to be mechanically coupled therewith; and mounting the second tool adapter to the tool handler.

[0007] Other features will become apparent from the drawings in conjunction with the following description.BRIEF DESCRIPTION OF DRAWINGS

[0008] In the figures which illustrate example embodiments,

[0009] FIG. 1 A is a front top perspective view of an end effector system and tools mounted thereto, in accordance with an embodiment;

[0010] FIG. 1 B is a right elevation view of the end effector system of FIG. 1 A and tools mounted thereto, in accordance with an embodiment;

[0011] FIG. 1C is a rear elevation view of the end effector system of FIG. 1A and tools mounted thereto, in accordance with an embodiment;

[0012] FIG. 2A is a rear perspective view of an end effector system, in accordance with an embodiment;

[0013] FIG. 2B is a front perspective view of a linear insertion assembly, in accordance with an embodiment;

[0014] FIG. 2C is a rear perspective view of the linear insertion assembly of FIG. 2B, in accordance with an embodiment;

[0015] FIG. 3A is a front perspective view of a tool mounted to an end effector system, in accordance with an embodiment;

[0016] FIG. 3B is a front top perspective view of a rotation assembly, in accordance with an embodiment;

[0017] FIG. 3C is a rear top perspective view of the rotation assembly of FIG. 3B, in accordance with an embodiment;

[0018] FIG. 4 is a right side cross-sectional view of a tool handling and insertion subsystem, in accordance with an embodiment;

[0019] FIG. 5 is a front top perspective view of the end effector system of FIG. 1 A without a tool mounted, in accordance with an embodiment;

[0020] FIG. 6A is a top view of a tool interface, in accordance with an embodiment;

[0021] FIG. 6B is a front cross-sectional view of the tool interface of FIG. 6A, in accordance with an embodiment;

[0022] FIG. 7 is a front top perspective view of a region of the tool interface of FIG. 6A, in accordance with an embodiment;

[0023] FIG. 8 is a front top perspective view of the tool interface of FIG. 6A, in accordance with an embodiment;

[0024] FIG. 9A is a front bottom perspective view of a tool adapter and a tool received therein that is a biopsy hand-piece, in accordance with an embodiment;

[0025] FIG. 9B is a front elevation view of the tool adapter and the tool of FIG. 9A, in accordance with an embodiment;

[0026] FIG. 10A is a bottom elevation view of the tool adapter of FIG. 9A, in accordance with an embodiment;

[0027] FIG. 10B is a rear perspective view of the tool adapter of FIG. 9A, in accordance with an embodiment;

[0028] FIG. 11 A is a front top perspective view of a tool that is a biopsy hand-piece, in accordance with an embodiment;

[0029] FIG. 11B is a rear elevation view of the tool of FIG. 11 A, in accordance with an embodiment;

[0030] FIG. 12 is a front bottom perspective view of a tool adapter and a tool received therein that is a trocar, in accordance with an embodiment;

[0031] FIG. 13 is a front bottom perspective view of the tool adapter of FIG. 12, in accordance with an embodiment;

[0032] FIG. 14 is a front perspective view of the tool of FIG. 12, in accordance with an embodiment;

[0033] FIG. 15 is a rear top perspective view of the tool adapter and tool of FIG. 12, in accordance with an embodiment;

[0034] FIG. 16 is a top view of a tool adapter and a tool received therein that is an anesthetic needle, in accordance with an embodiment;

[0035] FIG. 17 is a front bottom perspective view of a tool adapter and a tool received therein that is a scalpel, in accordance with an embodiment;

[0036] FIG. 18 is a front bottom perspective view of the tool adapter of FIG. 17, in accordance with an embodiment;

[0037] FIG. 19 is a front perspective view of the tool of FIG. 17, in accordance with an embodiment;

[0038] FIG. 20 is a front bottom perspective view of a tool adapter and a sheath mounted thereto, in accordance with an embodiment;

[0039] FIG. 21 is a perspective view of the tool adapter of FIG. 20, in accordance with an embodiment;

[0040] FIG. 22 is a rear perspective view of a tool adapter and a needle guide mounted thereto, in accordance with an embodiment;

[0041] FIG. 23 is a schematic diagram of an end effector system, in accordance with an embodiment;

[0042] FIG. 24 is a schematic diagram of a computing device, in accordance with an embodiment;

[0043] FIG. 25 is a flowchart of example operation of an end effector system, in accordance with an embodiment;

[0044] FIG. 26 is an example screen displayed at an end effector system in accordance with an embodiment;

[0045] FIG. 27A is a front top perspective view of an end effector system and a tool mounted thereto, in accordance with an embodiment and;

[0046] FIG. 27B is a front top perspective view of the end effector system of FIG. 21A, in accordance with an embodiment.

[0047] These drawings depict example embodiments for illustrative purposes, and variations, alternative configurations, alternative components and modifications may be made to these example embodiments.DETAILED DESCRIPTION

[0048] Improved robotic end effector systems for use in medical procedures are disclosed herein. Embodiments may be used to assist in the performance of medical procedures such as biopsies, surgeries, or other medical procedures that require a medical tool to be manipulated into human tissue (or other animal tissue) or for otherwise manipulating such tissue. Embodiments may be configured for robotic control of various medical tools such as a biopsy needle, a biopsy hand-piece, an anesthesia needle, another type of medical needle, other needle-like devices, a trocar, a cutter, an introducer, or the like. Embodiments may also be used with various supporting tools such as needle sheaths, needle guides, or the like.

[0049] Embodiments may be reconfigurable by an end user to use various types of medical tools, as well as different models of medical tools, e.g., from different suppliers, having different shapes and sizes, and so on. Such medical tools may include commercially-available tools and / or tools customized for use with the robotic end effector systems disclosed herein.

[0050] Embodiments may be adapted for use proximate or within an MRI machine, and thus utilize robotics architectures and components that remain operable in the presence of time-varying magnetic fields and space constraints of an MRI machine, and conversely do not negatively impact the operation of the MRI machine. For example, embodiments may be formed to reduce conducting structures in which time-varying magnetic fields may induce electric currents. For example, embodiments may be formed of materials that are MRI-compatible, e.g., aluminium, titanium, brass, bronze, austenitic stainless steel, ceramics, plastics, or the like. For example, embodiments may be formed to reduce electromagnetic interaction between an end effector system and an MRI machine. For example, embodiments may be formed of relatively compact size to fit space constraints.

[0051] FIG. 1A is a front perspective view of an end effector system 100, in accordance with an embodiment. FIG. 1B and FIG. 1C are, respectively, a right elevation view and a rear elevation view of end effector system 100, in accordance with this embodiment.

[0052] End effector system 100 includes a tool handling and insertion subsystem 102 configured to effect, under computer control, linear movement and rotational movement of a tool, as may be required for a medical procedure. For convenience, tool handling and insertion subsystem 102 may be referred to herein as handler 102.

[0053] Handler 102 extends along a working axis 1000 (FIG. 1B) of end effector system 100. Handler 102 effects linear movement of tool 300 along working axis 1000, and effects rotational movement of tool 300 about working axis 1000.

[0054] End effector system 100 also includes one or more tool adapters 200, each configured to be selectively mechanically coupled to a corresponding tool 300 of a given type or a corresponding family of tools 300 of a given type. Each tool adapter 200 is also configured to be selectively mechanically coupled to handler 102. When tool adapter 200 is mechanically coupled to both a tool 300 and handler 102, linear movement and / or rotational movement may be effected by handler 102 on tool 300 via tool adapter 200.

[0055] In some embodiments, end effector system 100 may have a length between approximately 300 to 400 mm (excluding tool retention arm 190). In some embodiments, end effector system 100 may have a width between approximately 100 to 150 mm. In some embodiments, end effector system 100 may have a height between approximately 100 to 200 mm. In specific respective embodiments, end effector system 100 has dimensions (length x width x height in mm) of approximately 375 x 120 x 145, 300 x 130 x 175, and 300 x 140 x 125.

[0056] End effector system 100 is reconfigurable by an end user to be used with disparate types of tools 300. FIG. 1A, FIG. 1B, and FIG. 1C depict, by way of example only, a tool 300 that is a biopsy hand-piece (e.g., suitable for a breast biopsy) such as aATEC™ breast biopsy device from Hologic. Tool 300 is mechanically coupled to a suitable tool adapter 200. End effector system 100 may be reconfigured to use a different tool 300, or a different type of tool 300. For example, during operation of end effector system 100, an end user (e.g., a physician, assistant, delegate, or the like) may select a suitable tool 300 for a given step of a given medical procedure, and then select a suitable tool adapter 200 configured for mechanically coupling to the selected tool 300. The user mechanically couples the selected tool 300 to the selected tool adapter 200, and further mechanically couples the selected tool adapter 200 (with the coupled tool 300) to handler 102.

[0057] In some embodiments, end effector system 100 includes a plurality of disparate tool adapters 200, which enable end effector system 100 to be mechanically coupled to and cooperate with a plurality of disparate tools 300. In this way, the plurality of disparate tool adapters 200 adapt various disparate tools 300 for robotic manipulation at end effector system 100.

[0058] Handler 102 may be enclosed by a housing 130 (as shown in FIG. 2). Housing 130 may be formed of an MRI-compatible material.

[0059] FIG. 2A depicts linear movement of a tool 300, e.g., to insert tool 300 into or withdraw tool 300 from tissue. As depicted, to insert tool 300, linear movement is effected by handler 102 in a forward direction 122 along working axis 1000. Handler 102 includes linear insertion assembly 104 to effect this linear movement. As depicted in FIG. 2B, linear insertion assembly 104 includes a carriage 106 that carries a tool 300 mounted thereto, a guide shaft for guiding movement of carriage 106, an insertion motor 108, and a leadscrew 109 for translating rotational movement of insertion motor 108 into linear movement of carriage 106. In some embodiments, linear insertion assembly 104 may provide an insertion speed of tool 300 between approximately 5 and 75 mm / second. The insertion speed may depend, for example, on lead of leadscrew 109. In some embodiments, linear insertion assembly 104 may provide an insertion force of tool 300 between approximately 5 to 250 N.

[0060] Insertion motor 108 operates under control of an encoder 112, as depicted in FIG. 2C. Encoder 112 is communicatively coupled with a controller (e.g., controller 2300 of FIG. 23) that provides control signals to encoder 112. Such control signals may, for example, cause insertion motor 108 to activate or deactivate, or to control a speed, direction, or other operational parameter of insertion motor 108. Linear insertion assembly 104 also includes cable carrier chain 122 to carry cabling (for power and / or control signals) connected with carriage 106 and to protect such cabling while carriage 106 moves. Importantly, when end effector system 100 is used in an MRI setting, cable carrier chain 122 protectively leads cabling carrying power and / or control signals to electronics (e.g., power supplies, controllers, etc.) that are outside of the MRI machine.

[0061] A closed feedback loop provided by linear encoder reader 114 that reads from linear encoder strip 116 to generate a signal indicative of the position of carriage 106. Within this feedback loop, encoder 112, linear encoder reader 114, and linear encoder strip 116 cooperate to provide precise control of the position of carriage 106, e.g., during a medical procedure. As noted, insertion motor 108 operates under control of encoder 112 coupled thereto. Linear encoder reader 114 and linear encoder strip 116 provide redundant feedback regarding a sensed position of carriage 106 and whether a sensed position adheres a desired position. For example, sensed position may indicate if motor coupling is slipping. The feedback based on sensed position may improve safety of operation.

[0062] In the depicted embodiment, insertion motor 108 is a piezo-electric rotary motor, and encoder 112 is a matched optical encoder (e.g., an optical rotary incremental encoder). A piezo-electric rotary motor and an optical encoder are used to facilitate operability within an MRI setting. In the depicted embodiment, insertion motor 108 may be operated between approximately 20 and 150 Revolutions Per Minute (RPM). In the depicted embodiment, insertion motor 108 has a rated output power and torque of 5 W and 0.5 Nm, respectively, and a maximum output power and torque of 10 W and 1 Nm, respectively.

[0063] In some embodiments, leadscrew 109 may be replaced by a rack and pinion mechanism, or the like.

[0064] In some embodiments, insertion motor 108 may have a different orientation relative to leadscrew 109, and rotational movement of insertion motor 108 may be transmitted to leadscrew 109 by way of, for example, bevel gears, worm gears, or the like. In some embodiments, the motor shaft may not be concentric with the leadscrew shaft, and rotational movement of insertion motor 108 may be transmitted to leadscrew 109 by way of, for example, a belt and pulley, spur gears, another type of non-magnetic gearbox, or the like.

[0065] In some embodiments, insertion motor 108 may be a piezo-electric linear motor, which may be used to create linear motion instead of rotational movement. In some embodiments, encoder 112 may be replaced by another suitable encoder matched to insertion motor 108, such as, for example, an optical linear encoder, or a rotary or linear absolute encoder.

[0066] Referring again to FIG. 2B, linear insertion assembly 104 also includes a power distribution PCB 118 that includes electronics for controlling power, e.g., to insertion motor 108, encoder 112, and other powered components. Linear insertion assembly 104 also includes two limit switch PCBs 120 disposed, respectively at proximate opposing ends of the guide shaft for carriage 106, i.e., at respective limit positions of carriage 106. Each limit switch PCB 120 includes a limit switch that provides a home position for encoder 112, and protects against overrun of carriage 106. In the depicted embodiment, limit switch is an optical limit switch that generates a signal when, for example, a sensor is blocked by carriage 106 when it moves into a limit position.

[0067] FIG. 3A depicts rotational movement of a tool 300, e.g., to rotate tool 300 before, during, or after insertion of tool 300 into tissue. As depicted, rotational movement is effected about working axis 1000, in a rotational direction 130, which can be clockwise or counter clockwise. Rotational movement is effected by a rotationassembly 110 of handler 102. In some embodiments, rotation assembly 110 provides a rotation speed of tool 300 between approximately 5 and 60 RPM.

[0068] As depicted in FIG. 3B, rotation assembly 110 includes a rotation motor 132 disposed at a rear end of handler 102. Rotational movement of rotation motor 132 is transmitted through a series of components to a tool rotation gear 134 disposed at a forward end of handler 102. In particular, rotational movement of rotational motor 132 is transmitted through motor coupling 137 to one or more bevel gears 136. Bevel gears 136 change the direction of the rotational movement. Bevel gears 136 transmit the rotational movement to a rotation transmission shaft 138, which is best seen in the cross-sectional view of FIG. 4. Rotation transmission shaft 138 extends along a length of handler 102, and transmits the rotational movement along this length to an idler gear 140. Idler gear 140 in turn transmits rotational movement to tool rotation gear 134. Tool rotation gear 134 transmits rotational movement to adapter gear 202 disposed on adapter 200 (FIG. 3A).

[0069] Rotation motor 132 operates under control of an encoder 142 (FIG. 3B). Encoder 142 is communicatively coupled with a controller (e.g., controller 2300 of FIG. 23) that provides control signals to encoder 142. Such control signals may, for example, cause rotation motor 132 to activate or deactivate, or to control a speed, direction, or other operational parameter of rotation motor 132.

[0070] In the depicted embodiment, rotation motor 132 is a piezo-electric rotary motor, and encoder 142 is a matched optical encoder (e.g., an optical rotary incremental encoder). As mentioned, a piezo-electric rotary motor and an optical encoder are used to facilitate operability within an MRI setting. [In the depicted embodiment, insertion motor 132 may be operated between approximately 20 and 150 RPM. In the depicted embodiment, rotation motor 132 has a rated output power and torque of 5 W and 0.5 Nm, respectively, and a maximum output power and torque of 10 W and 1 Nm, respectively. In another embodiment, rotation motor 132 has a rated output power and torque of 1 W and 0.05 Nm, respectively. In another embodiment,rotation motor 132 has a maximum output power and torque of 2 W and 0.1 Nm, respectively.

[0071] In some embodiments, rotation motor 132 may have a different orientation. For example, rotation motor 132 may provide rotational movement along an axis orthogonal to the rotational axis of handler 102. This rotational movement may be transmitted to handler 102 by way of a worm gear drive, another type of non-magnetic gearbox, or the like.

[0072] In some embodiments, rotation motor 132 may be a piezo-electric linear motor, which may be used to create linear motion instead of rotational movement. In some embodiments, encoder 142 may be replaced by another suitable encoder matched to rotation motor 132, such as, for example, an optical linear encoder, or a rotary or linear absolute encoder.

[0073] FIG. 5 is a front perspective view of an end effector system 100 with tool adapter 200 removed, in accordance with an embodiment. Removal of tool adapter 200 exposes a tool interface 150. Tool interface 150 provides an interface between tool adapter 200 and end effector system 100, to provide selective mechanical coupling therebetween. When end effector system 100 and tool adapter 200 are mechanically coupled via tool interface 150, tool interface 150 facilitates transmission of linear movement and rotational movement of handler 102 to tool 300.

[0074] Tool interface 150 includes a male connector element 152 for connection with a corresponding female connector 252 on tool adapter 200. Female connector 252 is further detailed herein with reference to FIG. 9A and FIG. 9B.

[0075] FIG. 6A is a top view of tool interface 150, in accordance with an embodiment. FIG. 6B is a front cross-sectional view of tool interface 150 taken along line 6B-6B of FIG. 6A. FIG. 7 is a front perspective view of a region of tool interface 150 where male connector 152 is disposed.

[0076] As best seen in FIG. 6B and FIG. 7, male connector 152 extends upwardly from a top surface 154 of tool interface 150 parallel to working axis 1000. In thedepicted embodiment, male connector 152 has a wedge shape. When referencing the depicted embodiment, male connector 152 may be referred to herein as wedge 152 for convenience. In other embodiments, other shapes of male connector 152 may be provided, and in such embodiments male element 152 may not be wedge-shaped. Tool interface 150 also includes side walls 158 that extend upwardly and along opposing side edges of top surface 154 parallel to working axis 1000.

[0077] This wedge-shape and its placement provides undercuts 156 along right and left sides of wedge 152. Each undercut 156 define an angle C between a sloping side of wedge 152 and top surface 154. In the depicted embodiment, angle C is approximately 45 degrees. In other embodiments, angle C may be between approximately 30 degrees to 70 degrees.

[0078] In operation, a tool adapter 200 may be mounted to tool interface 150 by sliding tool adapter 200 in a tool loading direction 160, as depicted in FIG. 8. When tool adapter 200 is slidingly mounted to tool interface 150, female connector 252 becomes mated with wedge 152 by sliding over wedge 152 such that at least a portion of female connector 252 is secured into position by cooperation of undercuts 168 and side walls 152.

[0079] Importantly, the mechanical connection between tool adapter 200 and handler 102 provided by mating of wedge 152 and female connector 252 is sufficiently precise, strong, rigid for correct and safe manipulation of a tool 300 (e.g., to correct alignment of depth of penetration into tissue). For example, the mechanical connection may be provided to have a sufficiently low backlash. [

[0080] As best seen in FIG. 6A, wedge 152 may be narrower at a rear end 162 (where it first meets tool adapter 200 during sliding mounting) than at a forward end 164. For example, as depicted, width a may be less width b. In some embodiments, width a may be approximate 10 to 60% less than width b. The tapering shape of wedge 162 along its length facilitates easy mounting of a tool adapter 200 and also enforces correct mounting direction of tool adapter 200. This ensures that tool adapter 200 is mounted with a correct orientation relative to handler 102.

[0081] In some embodiments, the placement of male connector 152 and female connector 252 may be reversed, such that male connector 152 is disposed on tool 300 and female connector 252 is disposed on tool adapter 200.

[0082] Referring again to FIG. 8, tool interface 150 includes a spring-loaded latch 170 for securing the position of a tool adapter 200 mounted to handler 102. Latch 170 engages a corresponding latch trap cavity 270 of a tool handler 200. In particular, when tool adapter 200 slides over wedge 152, latch 170 is pushed up and then drops into latch trap cavity 270 to lock tool adapter 200 to a desired mounted position.

[0083] Latch 170 may be depressed (against the bias of spring 171 shown in the cross-sectional view of FIG. 4) for release. Latch 170 is configured and disposed at a location to facilitate one-handed operation. In some embodiments, another locking feature may be used instead of latch 170. For example, in such embodiments, latch 170 may be replaced by a manual lever, a manual sliding button, a motorized latch, or the like.

[0084] Tool interface 150 includes a tool presence sensor 180 that detects when a tool adapter 200 has been mounted to tool interface 150. In the depicted embodiment, tool presence sensor 180 is an optical sensor configured to identify a visual feature on tool adapter 200 such as a line or annular feature (e.g., a ring, circular cavity, or the like). The target feature may, for example, be annular feature 280 disposed on tool adapter 200, as depicted in FIG. 10B. In some embodiments, annular feature 280 may be formed of a reflective material. In some embodiments, tool presence sensor 180 may be a conventional optical tracking sensor that emits infrared light and detects reflections from a target feature. Upon detecting a target feature, tool presence sensor 180 generates and sends a signal indicating that the presence of tool adapter 200 has been sensed, e.g., to a controller of end effector system 100.

[0085] In some embodiments, tool presence sensor 180 may serve as a homing sensor for tool rotation, e.g., to establish a zero-angle (home) position of tool adapter 200 prior to performing a tool rotation step. For example, tool presence sensor 180 may be configured to detect a discontinuity (or other pre-defined characteristic) of annularfeature 280 with a known angular position relative to a home position, and thus allowing the home position to be sensed. In some embodiments, tool interface 150 includes multiple tool presence sensors 180, and one of the sensors may have a dedicated function of sensing the home position.

[0086] In some embodiments, tool presence sensor 180 may be replaced by another type of optical sensor, e.g., proximity, through beam, retro reflective, diffuse reflective, or the like. In some embodiments, tool presence sensor 180 may be an optical sensor that generates and sends a signal indicating that the presence of tool adapter 200 has been sensed when light to the sensor is blocked by tool adapter 200.

[0087] In some embodiments, tool presence sensor 180 may be replaced by a sensor that detects closing of an electrical circuit (e.g., based on measured resistance, capacitance, or the like) when tool presence sensor 180 comes into contact with tool adapter 200.

[0088] Tool presence sensor 180 is disposed on tool interface 150 at a location to be proximate an expected location of the target feature. For example, in the depicted embodiment, tool presence sensor 180 is disposed towards a rear region of tool interface 150 to be able to read annular feature 280 disposed on a rear surface of tool adapter 200.

[0089] In some embodiments, tool interface 150 includes actuators that provide feedback to an end user when the presence of a tool adapter 200 has been sensed by tool presence sensor 180. In some embodiments, tool interface 150 may include one or more speakers, lights, or displays to indicate the presence of a tool adapter 200. In some embodiments, tool interface 150 includes a haptic actuator that is actuated when presence of a tool adapter 200 is sensed, to generate haptic feedback (e.g., a click) that can be heard by an end user and / or felt through a hand of the end user.

[0090] In some embodiments, tool presence sensor 180 may perform a secondary function such as detecting an angular position of a tool adapter 200. This angular orientation may be provided, for example, to encoder 142 for control of rotation motor132. In such embodiments, annular feature 280 encodes information about the angular position of tool adapter 200, that may be read by tool presence sensor 180.

[0091] Tool interface 150 includes a tool identification sensor 182 that detects the type of tool 300 that is being used. In the depicted embodiment, tool identification sensor 182 is a barcode reader that scans a barcode disposed on tool adapter 200, where the barcode encodes an identifier of the type of tool 300. Tool identification sensor 182 is disposed to be proximate an expected location of the barcode on tool adapter 200.

[0092] In some embodiments, tool identification sensor 182 may be another type of sensor such as an RFID reader that reads a tool identifier from a RFID tag on tool adapter 200. In some embodiments, tool identification sensor 182 may include a communication interface for communicating with a tool adapter 200 (e.g., via Bluetooth, NFC, or the like) to receive a tool identifier.

[0093] Tool interface 150 also includes tool rotation gear 134. When a tool adapter 200 is mounted to tool interface 150, tool rotation gear 134 engages a corresponding adapter gear 202 on adapter 200. When engaged, tool rotation gear 134 transmits rotational movement to adapter gear 202.

[0094] FIG. 9A is a front bottom perspective view of a tool adapter 200 and a tool 300 mechanically coupled therewith, in accordance with an embodiment. In the depicted embodiment, tool adapter 200 is configured for adapting a tool 300 that is a biopsy hand-piece for use with end effector system 100. FIG. 9B is a front elevation view of tool adapter 200 and tool 300, in accordance with the same embodiment. FIG. 10A is bottom elevation view of tool adapter 200 and FIG. 10B is a rear perspective view of tool adapter 200, each with tool 300 removed, in accordance with the same embodiment.

[0095] Tool adapter 200 includes housing 204 with a rotating portion 210 and a nonrotating portion 212. In the depicted embodiment, each of rotating portion 210 and nonrotating portion 212 is substantially cylindrical in shape. Rotating portion 210 is partiallynested within non-rotating portion 212 and extends forwardly therefrom. In this way, non-rotating portion 212 forms a sleeve around at least a portion of rotating portion 210, e.g., covering parts thereof such as portions of adapter gear 202. In some embodiments, rotating portion 210 extends substantially the length of non-rotating portion 212.

[0096] Rotating portion 210 includes the aforementioned adapter gear 202, which is formed around an outer circumference of rotating portion 210. When tool adapter 200 is mounted on tool interface 150, adapter gear 202 receives rotational movement from tool rotation gear 134. Rotation of adapter gear 202 causes rotation of rotating portion 210 and a tool 300 received within tool adapter 200. When rotating portion 210 rotates, the relative angular position of non-rotation portion 212 is fixed. Adapter gear 202 is exposed for engagement with tool rotation gear 134 via a window on the bottom of nonrotating portion 212.

[0097] Rotating portion 210 includes a tool identifier 260 that identifies the type of tool 300 received within tool adapter 200. For example, tool identifier 260 may be a barcode or an RFID tag that may be read by tool identification sensor 182. Tool identifier is disposed on tool adapter 200 to be proximate an expected location of tool identification sensor 182 when tool adapter 200 is mounted on handler 102. In some embodiments, tool identifier 260 may be placed at a different location of tool adapter 200, e.g., on non-rotating portion 212. In some embodiments, tool identifier 260 may be placed on tool 300. In some embodiments, tool identifier 260 may be a removable sticker that can be placed (and moved) by an end user.

[0098] As depicted in FIG. 9A and FIG. 9B, tool adapter 200 includes a female connector 252. Female connector 252 includes a substantially flat surface 254 and lips 256 extending therefrom which together define a channel 258 to slidingly receive wedge 152. This channel extends parallel to working axis 1000. The shape of this channel corresponds substantially to the shape of wedge 152. So, for example, as best seen in FIG. 10A, channel 258 is narrower at an end where wedge 152 is inserted from, andbecomes progressively wider towards an opposite end, in substantial correspondence with the shape of wedge 152.

[0099] Optionally, tool adapter 200 may include one or more indicators 254 for visually indicating a tool load location and / or direction to an end user.

[0100] Continuing to refer to FIG. 10A, tool adapter 200 includes latch trap cavity 270 for receiving latch 170 when tool adapter 200 is mounted on handler 102. Tool adapter 200 includes two latch arms 272 on opposite sides of latch trap cavity 270. Each one of latch arm 272 can be manipulated by an end user (e.g., by pressing down) to urge latch 170 out of latch trap cavity 270, thereby releasing tool adapter 200 and allowing it to be slidingly dismounted from handler 102.

[0101] Referring now to FIG. 10B, as depicted, housing 204 of tool adapter 200 has an interior 220 that is substantially a hollow cylinder for receiving a portion of tool 300 that is substantially cylindrical in shape. Interior 220 is sized and shaped to fit a portion of tool 300 precisely, to prevent movement of tool 300 relative to tool adapter 200.

[0102] Interior 220 extends from an opening 222 at one end of tool adapter 200 to an opening 224 at an opposite end. Interior 220 includes a mating feature 282 for mechanically coupling a tool 300 to tool adapter 200. As depicted, mating feature 282 is a rib that extends at least a portion of interior 220, such as, for example, a portion extending a length of rotating portion 210.

[0103] Mating feature 282 is disposed at a location and shaped to mate with a corresponding mating feature 382 on tool 300.

[0104] FIG. 11 A is a front perspective view of tool 300 in accordance with an embodiment. FIG. 11B is a rear elevation view of tool 300 in accordance with this embodiment. As depicted, tool 300 has a substantially cylindrical body that can be inserted by an end user into an opening 222 of tool adapter 300.

[0105] As depicted, tool 300 includes a mating feature 382 corresponding to mating feature 282. In particular, mating feature 382 includes a channel for receiving matingfeature 282. When tool 300 is inserted into opening 200, mating feature 282 is inserted within the channel of mating feature 382. The mating of mating feature 282 and mating feature 382 substantially prevents rotation of a tool 300 received within tool adapter 200 relative to tool adapter 200, and causes tool 300 to rotate with tool adapter 200 upon rotational movement effected by handler 102. The linear position of tool 300 relative to tool adapter 200 is fixed by mating of one or more deflectable protruding features 286 disposed on an interior surface of tool adapter 200 with annular channel 386 of tool 300. When tool 300 is inserted into opening 200, protruding features 286 are deflected forward and then snap back into annular channel 386.

[0106] As depicted, at least a part of tool 300 for contacting tissue (e.g., a needle portion) extends out of opening 224. Opening 224 is sized to constrict forward movement of tool 300 within interior 220, e.g., to prevent a remainder of tool 300 from moving forward out of opening 224.

[0107] FIG. 12 is a front perspective view of another tool adapter 200 and a tool 300 mechanically coupled therewith, in accordance with an embodiment. In the depicted embodiment, tool adapter 200 is configured for adapting a tool 300 that is a trocar. FIG. 13 is a front perspective view of tool adapter 200 with tool 300 removed therefrom, in accordance with the same embodiment. FIG. 14 is a front perspective view of tool 300 removed from tool adapter 200. For disambiguation, tool adapter 200 for adapting trocars may be referred to herein as trocar tool adapter 200, and tool adapter 200 for adapting a biopsy hand-piece (FIG. 9A) may be referred to herein as biopsy tool adapter 200.

[0108] Trocar tool adapter 200 has features in common with biopsy tool adapter 200. For example, referring to FIG. 13, trocar tool adapter 200 includes a female connector 252 for connection with male connector 152 of tool interface 150. This allows trocar tool adapter 200 to be mounted to handler 102 in a manner similar to that disclosed for biopsy tool adapter 200. For example, trocar tool adapter 200 includes a latch trap cavity 270 and latch arms 272. These components allow trocar tool adapter 200 to engage with latch 170 (and disengage from latch 170) of tool interface 150 in a mannersimilar to that disclosed for biopsy tool adapter 200. For example, trocar tool adapter 200 includes an annular feature 280 to allow tool presence sensor 180 to sense the presence of trocar tool adapter 200 in a manner similar to that disclosed for biopsy tool adapter 200. For example, trocar tool adapter 200 includes a tool identifier that allows the type of tool 300 (a trocar) to be sensed via tool identification sensor 182 in a manner similar to that disclosed for biopsy tool adapter 200.

[0109] In the depicted embodiment, trocar tool adapter 200 also differs from biopsy tool adapter 200 in certain respects. For example, trocar tool adapter 200 does not include an adapter gear 202 because its particular tool 300 (a trocar) does not need to be rotated during a medical procedure by end effector system 100. In some embodiments, trocar tool adapter 200 may include adapter gear 202 and related features to allow a trocar tool 300 received therein to be rotated by end effector system 100.

[0110] FIG. 15 is a rear perspective view of trocar tool adapter 200, opened to receive tool 300, in accordance with an embodiment. As depicted, trocar tool adapter 200 has a lid 290 foldable about a hinge 292. Lid 290 may be opened to expose an interior cavity 220 for receiving a portion of tool 300. Interior cavity 220 is sized and shaped to fit tool 300 precisely, to prevent movement of tool 300 relative to trocar tool adapter 200. Lid 290 may be closed and fastened by way of a snap lock 294. As depicted, at least a part of tool 300 for contacting tissue (e.g., a needle portion) extends out of a forward end of trocar tool adapter 200.

[0111] FIG. 16 depicts another tool adapter 200 and a tool 300 mechanically coupled thereto, in accordance with an embodiment. In the depicted embodiment, tool adapter 200 is configured for adapting a tool 300 that is an anesthetic needle. Similar to other tool adapters 200 disclosed herein, tool adapter 200 for adapting an anesthetic needle includes features for interoperation with other components of end effector system 100, e.g., for mounting to handler 102, for being sensed and identified by handler 102, and so on. As depicted, tool adapter 200 for adapting an anesthetic needle has a clamshell housing that can be opened to expose an interior 220 to receive tool 300 (e.g., ananesthetic needle). The housing can be closed and fastened (e.g., with a snap lock) to fix the position of tool 300 relative to tool adapter 200.

[0112] FIG. 17 is a front perspective view of another tool adapter 200 and a tool 300 mechanically coupled therewith, in accordance with an embodiment. In the depicted embodiment, tool adapter 200 is configured for adapting a tool 300 that is a scalpel. FIG. 18 is a top elevation view of tool adapter 200 with tool 300 removed therefrom, in accordance with the same embodiment.

[0113] Scalpel tool adapter 200 has features in common with biopsy tool adapter 200. For example, referring to FIG. 17, scalpel tool adapter 200 includes a female connector 252 for connection with male connector 152 of tool interface 150. This allows scalpel tool adapter 200 to be mounted to handler 102 in a manner similar to that disclosed for biopsy tool adapter 200. For example, scalpel tool adapter 200 includes a latch trap cavity 270 and latch arms 272. These components allow scalpel tool adapter 200 to engage with latch 170 (and disengage from latch 170) of tool interface 150 in a manner similar to that disclosed for biopsy tool adapter 200.

[0114] Scalpel tool adapter 200 includes a clamshell housing with a lid 290 foldable about a hinge 292. As depicted in FIG. 19, lid 290 may be opened to expose an interior cavity 220 for receiving a portion of tool 300. Interior cavity 220 is sized and shaped to fit tool 300 precisely, to prevent movement of tool 300 relative to scalpel tool adapter 200. Lid 290 may be closed and fastened by way of a snap lock 294. As depicted, at least a part of tool 300 for contacting tissue (e.g., a blade portion) extends out of a forward end of scalpel tool adapter 200.

[0115] In some embodiments, end effector system 100 is configured to be operable with multiple tools concurrently. In such embodiments, end effector system 100 is configured to be mechanically coupled concurrently with a plurality of tool adapters, which are in turn, respectively mechanically coupled with a plurality of tools.

[0116] Referring again to FIG. 1, in the depicted embodiment, end effector system 100 is optionally configured to include a tool adapter 400 for adapting a sheath 500 foruse with end effector system 100. As depicted, end effector system 100 includes a tool retention arm 190 that extends from a forward end of handler 102 parallel to working axis 1000. Tool retention arm 190 includes, on an end distal to handler 102, a tool interface 192 for mechanical coupling with tool adapter 400. In some embodiments, tool retention arm 190 may have a length between approximately 200 mm and 500 mm. In one specific embodiment, tool retention arm 190 has a length of approximately 240 mm. In another specific embodiments, tool retention arm 190 has a length of approximately 400 mm.

[0117] As depicted in FIG. 20, tool interface 192 includes a locking clamp 194 for selectively mechanically coupling tool adapter 400 to tool interface 192. In the depicted embodiment, locking clamp 194 includes opposing jaws that can be opened and closed to selectively hold tool adapter 400 therebetween. In other embodiments, another type of coupler may be used to mechanically couple tool adapter 400 to tool interface 192. Locking clamp 194 may be manipulated by an end user to open and close using a sliding button 196. Optionally, locking clamp 194 may be spring-biased to a closed position.

[0118] FIG. 21 is a front perspective view of tool adapter 400, in accordance with an embodiment. As depicted, tool adapter 400 includes a groove 402 for engaging with locking clamp 194. Tool adapter 400 includes a forward opening 404 for receiving a tool 500 ( / .e., a sheath), and a rear opening 406 through which a portion of tool 300 (e.g., a needle portion) can pass through to engage tool 500.

[0119] Tool retention arm 104 is not connected mechanically to carrier 106, and its position is fixed when carriage 106 moves. Thus, forward movement of carriage 106 carries tool 300 towards tool 500, and reverse movement of carriage 106 carries tool 300 away from tool 500.

[0120] In some embodiments, end effector system 100 is mounted on a positioning robot. Such positioning robot may provide additional degrees of freedom of movement relative to handler 102. Such positioning robot may provide additional range of movement relative to handler 102. Such positioning robot may, for example, be used toposition and align a tool 300 (mounted on end effector system 100) relative to desired point of contact with tissue. Such positioning robot may, for example, include a robotic arm, another linear robot, a non-linear robot, or other similar apparatus.

[0121] In some embodiments, end effector system 100 is configured to be operable by an end user using a single hand. For example, tool adapter 200 is configured to be slidingly mounted and latched to tool interface 150 using one hand. For example, tool adapter 200 is configured to be unlatched from tool interface 150 using one hand, by manipulating either of release arms 272. For example, adapter 200 is shaped and sized to be grippable by one hand while still being able to use that hand to operate release arms 272.

[0122] In some embodiments, tool adapters 200 is formed using injection molding, e.g., of a thermoplastic material. In some embodiments, tool adapters 200 may be formed of low-cost materials to be suitable for one-time use. In some embodiments, tool adapters 200 may be formed of a sterilisable material.

[0123] FIG. 22 is a rear perspective view of tool interface 192 mechanically coupled with a different type of tool 500, i.e., a needle guide, in accordance with an embodiment. In this case, tool interface 192 engages tool 500 directly without use of a tool adapter 400. As depicted, tool 500 includes a groove 502 similar to groove 402, for engaging with locking clamp 194 of tool interface 192.

[0124] FIG. 23 is a schematic diagram of end effector system 100, in accordance with an embodiment. As depicted, end effector system 100 includes a controller 2300 for controlling operation of end effector system 100 including for controlling movement of handler 102. For example, controller 2300 may be communicatively coupled with one or more of insertion motor 108 and encoder 112 to control linear movement of handler 102. For example, controller 2300 may be communicatively coupled with one or more of rotation motor 132 and encoder 132 to control rotational movement of handler 102. Communication between controller 2300 and remaining components of end effector system 100 may be by way of a wireless link, or by way of an appropriately shielded wired link.

[0125] Controller 2300 may include a processor that executes processor-executable instructions. Such processor may be processor 2402 and such instructions may be stored in memory 2404 (FIG. 24).

[0126] As depicted, controller 2300 is interconnected with electronic datastore 2302. Datastore 2302 may store data reflecting a library of tools 300 and / or tool adapters 200 operable with end effector system 100, in association with their respective identifiers. Datastore 2302 may store data reflecting medical procedures that can be performed using end effector system 100. For each medical procedure, such data may include a sequence of steps to be performed. A step may be defined in the data by the particular type of tool 300 that must be used to perform that step. A step may be defined in the data by the particular movements to be performed a tool 300, as effected by handler 100. A step may be defined in the data by particular conditions or triggers (e.g., user inputs or sensed conditions) required to initiate a step.

[0127] Controller 2300 may include a display screen for displaying information to an end user, which may be presented in a suitable graphical user interface. Controller 2300 may include a user input interface (e.g., a touch interface, a keyboard, mouse, or the like) for receiving input from the end user.

[0128] FIG. 24 is a schematic diagram of computing device 2400 which may be used to implement controller 2300, in accordance with an embodiment.

[0129] As depicted, computing device 2400 includes at least one processor 2402, memory 2404, at least one I / O interface 2406, and at least one network interface 2408.

[0130] Each processor 2402 may be, for example, any type of general-purpose microprocessor or microcontroller, a digital signal processing (DSP) processor, an integrated circuit, a field programmable gate array (FPGA), a reconfigurable processor, a programmable read-only memory (PROM), or any combination thereof.

[0131] Memory 2404 may include a suitable combination of any type of computer memory that is located either internally or externally such as, for example, randomaccess memory (RAM), read-only memory (ROM), compact disc read-only memory(CDROM), electro-optical memory, magneto-optical memory, erasable programmable read-only memory (EPROM), and electrically-erasable programmable read-only memory (EEPROM), Ferroelectric RAM (FRAM) or the like.

[0132] Each I / O interface 2406 enables computing device 2400 to interconnect with one or more input devices, such as a keyboard, mouse, camera, touch screen and a microphone, or with one or more output devices such as a display screen and a speaker.

[0133] Each network interface 2408 enables computing device 2400 to communicate with other components, to exchange data with other components, to access and connect to network resources, to serve applications, and perform other computing applications by connecting to a network (or multiple networks) capable of carrying data including the Internet, Ethernet, plain old telephone service (POTS) line, public switch telephone network (PSTN), integrated services digital network (ISDN), digital subscriber line (DSL), coaxial cable, fiber optics, satellite, mobile, wireless (e.g. Wi-Fi, WiMAX), SS7 signaling network, fixed line, local area network, wide area network, and others, including any combination of these.

[0134] FIG. 25 is a flowchart depicting the example operation of end effector system 100, in accordance with an embodiment. In particular, the operation depicted at blocks 2000 and onward is performed to reconfigure end effector system 100 to use a new tool.

[0135] At block 2002, an end user removes a first tool adapter 200 mounted to handler 102 of end effector system 100, the first tool adapter 200 for adapting a first tool 300 for use with end effector system 100. For example, the end user may manipulate release arm 272 to release latch 170, and then slide first tool adapter 200 to dismount it from handler 102. In this way, first tool adapter 200 becomes mechanically decoupled from handler 102.

[0136] At block 2004, the end user selects a second tool 300 to be used, and selects a second tool adapter 200 corresponding to second tool 300 and for adapting secondtool 300 to end effector system 100. First tool 300 and second tool 300 are of disparate types.

[0137] At block 2006, the end user places at least a portion of second tool 300 into second tool adapter 200 to be mechanically coupled therewith. For example, when second tool 300 is a biopsy hand-piece (e.g., as depicted in FIG. 11), second tool 300 may be inserted into an opening of second tool adapter 200 in such a way that a mating feature 382 of second tool 300 is mated with a corresponding mating feature 282 of tool adapter 200.

[0138] At block 2008, the end user mounts the second tool adapter 200 to the tool handler 102. For example, the end user may slide second tool adapter 200 onto tool handler 102. In this way, second tool adapter 200 becomes mechanically coupled with handler 102.

[0139] Optionally, at block 2010, end effector system 100 may automatically sense a type of second tool adapter 200. For example, tool identification sensor 182 may read from a tool identifier on second tool adapter 200. Data read by tool identification sensor 182 may be processed to obtain information regarding the type of the second tool adapter 200 encoded in the tool identifier. This information may be provided to controller 2300.

[0140] Optionally, controller 2300 may compare the read tool identifier with an expected tool identifier, as stored in the data of electronic datastore 2302 defining a sequence of tools to be used in a given medical procedure. In the event that the end user has mounted a tool type that should not be used in the given medical procedure or has mounted a tool out of sequence for the given medical procedure, then controller 2300 may generates an error indicator indicating that an incorrect tool has been detected. For example, controller 2300 may cause an error message screen 2600 (FIG. 26) to be displayed to the end user on a display screen. An audible alarm may be also be signalled to the end user. An error log may be updated to record the error.

[0141] Optionally, at block 2012, end effector system 100 may effect linear movement and / or rotational movement of second tool 300 via the tool handler 102. The linear movement and / or rotational movement may be effected based on the sensed type of second tool adapter 200, under control of a controller of end effector system 100.

[0142] It should be understood that steps of one or more of the blocks depicted in FIG. 25 may be performed in a different sequence or in an interleaved or iterative manner. Further, variations of the steps, omission or substitution of various steps, or additional steps may be considered.

[0143] FIG. 27A is a perspective view of an end effector system 100’, in accordance with another embodiment. FIG. 27B is a perspective view of end effector system 100’ with its tool adapter 200 removed. End effector system 100’ includes a handler 102’ for for effecting rotational movement and linear movement on tool adapters. Handler 102’ includes a rotational assembly 110’ with a tool interface 150’. Rotation assembly 110’ differs from rotational assembly 110 in that rotational assembly 110’ itself rotates, thereby causing a tool adapter 200 mounted to tool interface 150’ to rotate. Because rotational of tool adapter 200 is effected by rotation of rotational assembly 110’, gears are not required to transmit rotational movement from rotational assembly 110’ to tool adapter 200. For example, rotational assembly 110’ omits tool rotational gear 134, and tool adapter 200 omits adapter gear 202.

[0144] Of course, the above described embodiments are intended to be illustrative only and in no way limiting. The described embodiments are susceptible to many modifications of form, arrangement of parts, details and order of operation. The disclosure is intended to encompass all such modification within its scope, as defined by the claims.

Claims

WHAT IS CLAIMED IS:1 . An end effector system comprising: a tool handler for effecting rotational movement and linear movement; a tool adapter for adapting a tool for use with the end effector system, the tool adapter including: a housing for receiving at least a portion of the tool and thereby be removably mechanically coupled therewith; and a mating feature for mating with a corresponding mating feature of the tool handler and thereby be removably mechanically coupled therewith; and wherein when the tool adapter is mechanically coupled to the tool handler and mechanically coupled to the tool, the tool adapter transmits the rotational movement and the linear movement from the tool handler to the tool.

2. The end effector system of claim 1 , wherein the tool adapter is slidingly mountable to the tool handler.

3. The end effector system of claim 2, wherein at least one of the mating feature and the corresponding mating feature includes a wedge-shaped connector.

4. The end effector system of claim 3 wherein the wedge-shaped connector is shaped to restrict a direction of sliding mounting of the tool adapter to the tool handler.

5. The end effector system of claim 1 , wherein the tool adapter is a first tool adapter, and the system further comprises a second tool adapter, each of the first and second tool adapters for adapting a respective disparate type of tool for use with the end effector system.

6. The end effector system of claim 1 , wherein the tool handler includes a piezo-electric rotary motor for effecting rotational movement, and a corresponding optical encoder.

7. The end effector system of claim 1 , wherein the tool handler includes a piezo-electric rotary motor for effecting linear movement, and a corresponding optical encoder.

8. The end effector system of claim 1 , wherein the end effector system is configured for use within an MRI machine.

9. The end effector system of claim 1 , further comprising a tool presence sensor for sensing the presence of a tool adapter.

10. The end effector system of claim 1 , further comprising a latch for securing the tool adapter to the tool handler.11 . The end effector system of claim 1 , further comprising a tool identification sensor for identifying a type of the tool.

12. The end effector system of claim 1 , wherein the tool handler includes a gear and the tool adapter includes a complementary gear, and the gears are engaged when the tool adapter is mechanically coupled to the tool handler to transmit the rotational movement.

13. The end effector system of claim 1 , wherein the tool adapter is for adapting a tool that is at least one of a biopsy hand-piece, a trocar, a needle, or a scalpel.

14. The end effector system of claim 1 , wherein the tool adapter is a first tool adapter, and the system further comprises a second tool adapter.

15. The end effector system of claim 14, wherein the second tool adapter is for adapting a sheath or needle guide for use with the system.

16. A tool adapter for adapting a tool to an end effector system, the tool adapter comprising: a housing for receiving at least a portion of a tool and thereby be removably mechanically coupled therewith; and a mating feature for mating with a corresponding mating feature of a tool handler of the end effector system and thereby be removably mechanically coupled therewith; and wherein when the tool adapter is mechanically coupled to the tool handler and mechanically coupled to the tool, the tool adapter transmits the rotational movement and the linear movement effected by the tool handler to the tool.

17. The tool adapter of claim 16, wherein the mating feature includes a wedge-shaped connector.

18. The tool adapter of claim 16, further comprising an identifier of a type of tool adapted by the tool adapter.

19. The tool adapter of claim 18, wherein the identifier includes an RFID tag or a barcode.

20. The tool adapter of claim 16, further comprising a gear for engaging a corresponding gear of the tool handler when the tool adapter is mechanically coupled to the tool handler.21 . The tool adapter of claim 16 wherein the mating feature is a first mating feature, and the tool adapter further comprises a second mating feature for mating with a corresponding mating feature of the tool.

22. A method of operating a reconfigurable end effector system, the method comprising: dismounting a first tool adapter mounted to a tool handler of the end effect system, the first tool adapter for adapting a first tool for use with the reconfigurable end effector system; selecting a second tool adapter for adapting a second tool for use with the reconfigurable end effector system, the first tool and the second tool of disparate types; placing at least a portion of the second tool into the second tool adapter to be mechanically coupled therewith; and mounting the second tool adapter to the tool handler.

23. The method of claim 22, further comprising: sensing a presence of the second tool adapter.

24. The method of claim 22, further comprising: sensing a type of the second tool adapter.

25. The method of claim 24, further comprising: effecting linear movement and / or rotational movement of the tool via the tool handler, the linear movement and / or rotational movement based on the sensed type of the second tool adapter.

26. The method of claim 24, further comprising: in response to said sensing, generating an error indicator indicating that an incorrect tool has been detected.

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