Coupling mechanism for removeably attaching surgical instruments to a co-manipulation surgical system

Abstract

Co-manipulation surgical systems having robot arms are described herein that may be used for assisting with surgical procedures including laparoscopic surgery. The co-manipulation surgical systems allow a surgeon to use commercially available surgical tools while providing benefits associated with surgical robotics. Advantageously, surgical tools having an elongated shaft may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. The co-manipulation surgical system further includes a universal adapter configured to removably coupled additional surgical tools to the robot arms to perform additional surgical procedures including open surgery.

Description

225887-091001COUPLING MECHANISM FOR REMOVEABLY ATTACHING SURGICAL INSTRUMENTS TO A CO-MANIPULATION SURGICAL SYSTEMCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Appl. No. 63 / 680,040, filed August 6, 2024, and claims priority to EP Patent Appl. No. 24306323.7, filed August 5, 2024, the entire contents of each of which are incorporated herein by reference.FIELD OF USE

[0002] This technology relates to co-manipulation robotic systems, such as those designed to be coupled to clinician-selected surgical instruments to permit movement of the robot arm(s) via movement at the handle of the surgical instrument(s).BACKGROUND

[0003] Managing vision and access during a surgical procedure, e.g., a laparoscopic procedure, is a challenge. The surgical assistant paradigm is inherently imperfect, as the assistant is being asked to anticipate and see with the surgeon’s eyes, without standing where the surgeon stands, and similarly to anticipate and adjust how the surgeon wants the tissue of interest exposed, throughout the procedure. For example, during a laparoscopic procedure, one assistant may be required to hold a retractor device to expose tissue for the surgeon, while another assistant may be required to hold a scope device to provide a field of view of the surgical space within the patient to the surgeon during the procedure, either one of which may be required to hold the respective tools in an impractical position, e.g., from between the arms of the surgeon while the surgeon is actively operating additional surgical instruments.

[0004] Various attempts have been made at solving this issue. For example, a rail-mounted orthopedic retractor, which is a purely mechanical device that is mounted to the patient bed / table, may be used to hold a scope device in position during a laparoscopic procedure, and another railmounted orthopedic retractor may be used to hold a retractor device in position during the713392135v1 1225887-091001 laparoscopic procedure. However, the rail-mounted orthopedic retractor requires extensive manual interaction to unlock, reposition, and lock the tool in position.

[0005] Complex robot-assisted systems such as the Da Vinci Surgical System (made available by Intuitive Surgical, Sunnyvale, California) have been used by surgeons to enhance laparoscopic surgical procedures by permitting the surgeon to tele-operatively perform the procedure from a surgeon console remote from the patient console holding the surgical instruments. Such complex robot-assisted systems are very expensive and have a very large footprint and take up a lot of space in the operating room. Moreover, such robot-assisted systems typically require unique system-specific surgical instruments that are compatible with the system, and thus surgeons may not use standard off-the-shelf surgical instruments that they are used to. As such, the surgeon is required to learn an entirely different way of performing the laparoscopic procedure.

[0006] Moreover, it may be challenging for surgeons to learn to apply the right amount of forces during a surgical procedure, e.g., a laparoscopic surgery where one or more trocars are inserted through a body wall of a patient. For example, whereas in traditional open surgery where surgeons can directly feel and manipulate tissues with their hands, thereby providing valuable tactile feedback, in laparoscopic surgery, however, the surgeon uses long, slender instruments with limited tactile sensation. This lack of direct touch can make it difficult to gauge the amount of force applied, increasing the risk of tissue damage due to forces applied thereto by the instrument. In addition, laparoscopic surgery relies on 2D video images from a camera inside the patient’s body, which can lead to a loss of depth perception, thereby making it challenging to accurately discern the distance between instruments and tissues. Misjudging depth can result in excessive or insufficient force application, potentially causing harm to nearby anatomical structures. In addition, laparoscopic instruments have limited degrees of freedom compared to the human hand, which can make precise and delicate movements more challenging to execute, and surgeons must adapt to these limitations when applying forces. Further, different tissues in the body have varying properties, such as thickness, elasticity, and fragility, and understanding how to adapt force application based on the tissue being manipulated is crucial to avoid injury to the patient.713392135v1 2225887-091001

[0007] Incorrect force application during laparoscopic surgery can lead to complications such as bleeding, perforations, or damage to adjacent organs. Trocar placement complications include vascular injury, bowel / visceral injury. The bowel and vascular injuries are often due to placement of the primary trocar or Veress needle because they are done blindly. However, injuries also can occur with secondary trocar insertion if the trocars are not properly visualized throughout their insertion. Surgeons must be cautious and precise to minimize these risks. Despite the recent advances in minimally invasive techniques, new technologies, and evidencebases guidelines, no single technique or instrument has been proven to completely eliminate laparoscopic entry associated injury. Limiting the force applied during access may be beneficial to prevent injuries. To overcome these challenges, surgeons often undergo extensive training using simulators and virtual reality tools. These platforms may help surgeons practice force application and refine their skills in a controlled environment before operating on real patients. However, learning to differentiate between tissues and tailor force accordingly to apply the right forces during trocar placement can be challenging, and is a skill that takes time to develop.

[0008] In view of the foregoing drawbacks of previously known systems and methods, there exists a need for a system that provides the surgeon with the ability to seamlessly position and manipulate various surgical instruments as needed, thus avoiding the workflow limitations inherent to both human and mechanical solutions.SUMMARY

[0009] The present disclosure overcomes the drawbacks of previously-known systems and methods by providing a coupler device for removably coupling a surgical instrument having an elongated shaft to a distal end of a robot arm of a co-manipulation surgical system to assist with surgery performed using the surgical instrument, the distal end of the robot arm comprising a coupler interface. The coupler device may comprise a coupler body configured to be removably coupled to the coupler interface and to the elongated shaft of the surgical instrument, the coupler body comprising a lumen sized and shaped to receive the elongated shaft therein, a clamp configured to transition between an open state and a closed state, the clamp comprising a locking portion configured to engage with the elongated shaft of the surgical instrument when the elongated shaft is disposed within the lumen and the clamp is in the closed state, and a switch713392135v1 3225887-091001 configured to be actuated to transition between an unlocked state and a locked state, the switch comprising an engagement portion configured to engage with the locking portion of the clamp when the clamp is in the closed state and the switch is in the locked state to thereby secure the elongated shaft within the lumen of the coupler body. Accordingly, when the coupler body is coupled to the coupler interface and the elongated shaft is secured within the lumen of the coupler body, the robot arm may be configured to be freely moveable responsive to movement at the handle of the surgical instrument for performing surgery.

[0010] The locking portion of the clamp may comprise a channel sized and shaped to receive the engagement portion of the switch in the locked state to thereby secure the elongated shaft within the lumen of the coupler body. For example, the channel may comprise a first ramped portion and a first flat portion, and the engagement portion of the switch may comprise a second ramped portion and a second flat portion, such that, as the switch transitions from the unlocked state to the locked state, the second ramped portion first engages with the first ramped portion to facilitate engagement of the second flat portion with the first flat portion in the closed state. Moreover, the locking portion of the clamp may comprise a tooth extending upwardly from a lateral edge of the locking portion, the tooth defining the channel of the locking portion.Additionally, the second ramped portion and the second flat portion of the engagement portion of the switch may form a lip sized and shaped to be received within the channel defined by the tooth. In addition, the engagement portion may comprise a groove and the channel may comprise a stop sized and shaped to be received within the groove, such that, when the clamp is in the closed state and the switch is in the locked state, the stop may be received within the groove to thereby maintain the switch in the locked state.

[0011] When the clamp is in the closed state and the switch is in the locked state, the engagement portion of the switch may apply a downward force to the locking portion of the clamp to cause the locking portion to apply a downward force to the elongated shaft of the surgical instrument to thereby secure the elongated shaft within the lumen of the coupler body. In addition, the downward force applied to the locking portion of the clamp by the engagement portion of the switch may cause the clamp to move downward relative to the coupler body. Moreover, an upward force applied to the engagement portion of the switch by the locking portion of the clamp when the elongated shaft is disposed within the lumen of the coupler body713392135v1 4225887-091001 may cause the switch to move upward relative to the coupler body. Additionally, the clamp may comprise a handle configured to be actuated to transition the clamp from the closed state to the open state. The clamp may be pivotally coupled to the coupler body to transition between the open state and the closed state. For example, the clamp may be pivotally coupled to the coupler body via a torsion spring, the torsion spring configured to bias the clamp in the closed state. Moreover, an axis of rotation of the clamp about the coupler body may be moveable along an axis perpendicular to the axis of rotation within the coupler body.

[0012] Additionally, when the coupler body is coupled to the coupler interface, the coupler body may be configured to rotate relative to the distal end of the robot arm via the coupler interface to self-align the lumen of the coupler body with the elongated shaft as the elongated shaft is inserted into the lumen. The coupler body may comprise one or more tapered surfaces configured to guide the elongated shaft into the lumen to facilitate self-alignment of the lumen of the coupler body with the elongated shaft as the elongated shaft is inserted along the one or more tapered surfaces into the lumen and the coupler body rotates relative to the distal end of the robot arm. Further, an upper surface of the locking portion of the clamp may comprise a tapered surface configured to guide the elongated shaft into the lumen and to facilitate transitioning of the clamp from the closed state to the open state responsive to a force applied to the tapered surface by the elongated shaft as the elongated shaft is inserted into the lumen. Moreover, the coupler body may comprise a groove configured to receive a protrusion of the coupler interface, such that engagement between the protrusion and the groove prevents rotational movement of the coupler body relative to the coupler interface.

[0013] The coupler device further may comprise a holder slidably disposed within the coupler body. The holder may comprise a lower friction pad configured to define at least a portion of the lumen of the coupler body. Additionally, the holder may be configured to be biased in a direction toward the lumen such that, when the elongated shaft is disposed within the lumen, the lower friction pad is configured to engage with the elongated shaft. Moreover, a lower surface of the locking portion of the clamp may comprise an upper friction pad configured to define at least a portion of the lumen of the coupler body, the upper friction pad configured to engage with the elongated shaft in the closed state. Accordingly, when the elongated shaft is disposed within the lumen and the clamp is in the closed state and the switch is in the locked713392135v1 5225887-091001 state, the upper and lower friction pads may be configured to permit rotational movement of the surgical instrument relative to the coupler body while preventing transitional movement of the surgical instrument relative to the coupler body.

[0014] In some embodiments, the coupler device further may comprise an adapter configured to be removeably coupled to the coupler body and to a portion of a second surgical instrument. The adapter may comprise an opening sized and shaped to receive the portion of the second surgical instrument therein. In addition, the adapter may comprise a coupler body coupling portion configured to be removably coupled to the coupler body. For example, the coupler body coupling portion may comprise a shaft portion sized and shaped to be disposed within the lumen of the coupler body, and an opening sized and shaped to receive the locking portion of the clamp therethrough, the opening at least partially defining a geometry of the shaft portion. The geometry of the shaft portion may correspond with a geometry of the elongated shaft of the surgical instrument. Further, the adapter may comprise a surgical instrument attachment portion configured to be removably coupled to the portion of the second surgical instrument, the surgical instrument attachment portion comprising the opening sized and shaped to receive the portion of the second surgical instrument therein. For example, the second surgical instrument may comprise at least one of a uterine manipulator, a suction and irrigation probes, or a metal scoop.

[0015] The surgical instrument attachment portion may be configured to be removeably coupled to the coupler body coupling portion. In some embodiments, the surgical instrument attachment portion may be integrally formed with the coupler body coupling portion. In addition, the surgical instrument attachment portion may comprise a lower portion comprising an instrument block configured to define a geometry of the lumen of the surgical instrument attachment portion. Moreover, the surgical instrument attachment portion may comprise an upper portion configured to transition between an open configuration where the portion of the second surgical instrument may be inserted within the lumen of the surgical instrument attachment portion and a closed configuration where the portion of the second surgical instrument is secured within the lumen of the surgical instrument attachment portion.

[0016] The upper portion may be configured to be releasably coupled to the lower portion via one or more fasteners to transition the upper portion between the open configuration and the713392135v1 6225887-091001 closed configuration. Additionally, the instrument block may comprise a plurality of receptacles configured to releasably engage one or more instrument fasteners, the one or more instrument fasteners configured to secure the portion of the second surgical instrument within the lumen of the surgical instrument attachment portion such that rotational movement of the second surgical instrument relative to the adapter is prevented.BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG. 1 illustrates an exemplary co-manipulation surgical system constructed in accordance with the principles of the present disclosure.

[0018] FIG. 2 illustrates an exemplary robot arm of the co-manipulation surgical system constructed in accordance with the principles of the present disclosure.

[0019] FIG. 3 illustrates an exemplary surgical instrument coupling mechanism in accordance with the principles of the present disclosure.

[0020] FIG. 4A is a cross-sectional view of an exemplary coupler interface of the surgical instrument coupling mechanism, and FIG. 4B is a perspective view of the coupler interface.

[0021] FIGS. 5A and 5B illustrate an exemplary coupler body of the surgical instrument coupling mechanism constructed in accordance with the principles of the present disclosure.

[0022] FIG. 6A illustrates an exemplary connection portion of the coupler body.

[0023] FIGS. 6B to 6D illustrate coupling of the coupler body to the coupler interface in accordance with the principles of the present disclosure.

[0024] FIG. 7A illustrates another exemplary coupler body of the surgical instrument coupling mechanism constructed in accordance with the principles of the present disclosure.

[0025] FIGS. 7B to 7E illustrate an exemplary locking mechanism of the coupler body of FIG. 7A.

[0026] FIG. 7F illustrates an alternative exemplary coupler body of the surgical instrument coupling mechanism constructed in accordance with the principles of the present disclosure.713392135v1 7225887-091001

[0027] FIG. 8 illustrates coupling of a surgical instrument to the coupler body in accordance with the principles of the present disclosure.

[0028] FIGS. 9A to 9C illustrate another exemplary coupler body adapter constructed in accordance with the principles of the present disclosure.

[0029] FIG. 10 illustrates another exemplary coupler body adapter constructed in accordance with the principles of the present disclosure.DETAILED DESCRIPTION

[0030] Disclosed herein are co-manipulation surgical robot systems for assisting an operator, e.g., a surgeon, in performing a surgical procedure, e.g., a laparoscopic procedure, and methods of use thereof. The co-manipulation surgical robot systems described herein provide superior control and stability such that the surgeon and / or assistant may seamlessly position various off- the-shelf surgical instruments as needed, thus avoiding the workflow limitations inherent to both human and mechanical solutions. For example, the robot arms of the co-manipulation surgical robot system may provide surgical assistance by holding a first surgical instrument, e.g., a scope such as an endoscope / laparoscope, via a first robot arm, and a second surgical instrument, e.g., a retractor, via a second robot arm, stable throughout the procedure to provide an optimum view of the surgical site and reduce the variability of force applied by the surgical instruments to the body wall at the trocar point. As will be understood by a person having ordinary skill in the art, the robot arms of the co-manipulation surgical robot systems described herein may hold any surgical instrument used for surgical procedures such as laparoscopic procedures including, e.g., scopes, retractors, graspers, surgical scissors, needle holders, needle drivers, clamps, suturing instruments, cautery tools, staplers, clip appliers, hooks, etc.

[0031] The co-manipulation surgical robot system further allows the surgeon to easily maneuver both tools when necessary, providing superior control and stability over the procedure and overall safety. Any implementations of the systems described herein enable a surgeon to directly co-manipulate instruments while remaining sterile at the patient bedside. For example, the system may include two robot arms that may be used by the surgeon to hold both a scope, e.g., a laparoscope, and a retractor. During a surgical procedure, the system may seamlessly713392135v1 8225887-091001 reposition either instrument to provide optimal visualization and exposure of the surgical field. Both instruments may be directly coupled to the robot arms of the system and the system may constantly monitor and record the position of the two instruments and / or the two robot arms throughout the procedure.

[0032] Moreover, the system may record information such as the position and orientation of surgical instruments attached to the robot arms, sensor readings related to force(s) applied at proximal and distal ends of the surgical instruments attached to robot arms, force required to hold each instrument in position, endoscopic video streams, algorithm parameters, operating room 3D stream captured with an optical scanning device, including, e.g., position(s) of surgical entry port(s) / trocar(s), position and movements of the surgeon’s hands, surgical instrument s) position and orientation, whether or not attached to robot arms, patient position, patient table orientation and height, sterile drape, as well as other objects in the operating room, and further may generate a virtual reconstruction, e.g., a 3D reconstruction, of the operating room for training purposes and / or to improve surgical procedure efficiency, as well as for guiding setup of the co-manipulation system. Such data may be used to develop a database of historical data and / or identify user preferences that may be used to develop the algorithms used in some implementations to control one or more aspects of an operation of the system. In addition, such data may be used during a procedure to control one or more aspects of an operation of the system per one or more algorithms of the system, e.g., based on stored user preferences associated with unique surgeon profiles.

[0033] As the operator manipulates a robot arm of the co-manipulation surgical robot system by applying movement to the surgical instrument coupled to the robot arm, the system may automatically transition the robot arm between various operational modes upon determination of predefined conditions. For example, the system may transition the robot arm to a passive mode responsive to determining that movement of the robot arm due to movement at the handle of the surgical instrument is less than a predetermined amount for at least a predetermined dwell time period, such that in the passive mode, the robot arm maintains a static position, e.g., to prevent damage to the equipment and / or injury to the patient. Additionally, the system may transition the robot arm to a co-manipulation mode responsive to determining that force applied at the robot arm due to force applied at the handle of the surgical instrument exceeds a predetermined713392135v1 9225887-091001 threshold, such that in the co-manipulation mode, the robot arm is permitted to be freely moveable responsive to movement at the handle of the surgical instrument for performing the surgical procedure using the surgical instrument, while a first impedance is applied to the robot arm in the co-manipulation mode to account for weight of the surgical instrument and the robot arm, e.g., gravity compensation.

[0034] Moreover, the system may transition the robot arm to a haptic mode responsive to determining that at least a portion of the robot arm is outside a predefined haptic barrier, such that in the haptic mode, a second impedance greater than the first impedance is applied to the robot arm, thereby making movement of the robot arm responsive to movement at the handle of the surgical instrument more viscous in the haptic mode than in the co-manipulation mode. The system further may transition the robot arm to a robotic assist mode responsive to detecting various conditions that warrant automated movement of the robot arm to guide the surgical instrument attached thereto, e.g., along a planned trajectory or to avoid a collision with another object or person in the surgical space. For example, in an instrument centering mode of the robotic assist mode, a robot arm coupled to a scope may automatically move the scope along a planned trajectory to track an identified surgical instrument and maintain the instrument within the field of view (FOV) of the scope to provide assisted instrument centering, as described in U.S. Patent No. 11,844,583 to Ye and WO 2024 / 150115 to Basafa, the entire contents of each of which are incorporated herein by reference.

[0035] Referring now to FIG. 1, co-manipulation surgical robot system 100 is provided. As shown in FIG. 1, system 100 may include platform 200, e.g., a surgical cart, sized and shaped to support one or more robot arms, e.g., robot arm 300a and robot arm 300b (collectively referred to herein as robot arms 300), each of robot arms 300 having a surgical instrument coupler interface, e.g., coupler interface 400a and coupler interface 400b (collectively referred to herein as coupler interface 400), for removably coupling to a surgical instrument, and a computing system operatively coupled to platform 200 and robot arms 300. Aspects of the co-manipulation surgical robot system described herein may utilize structures and software from U.S. Patent No. 10,118,289 to Louveau, U.S. Patent No. 11,504,197 to Noonan, U.S. Patent No. 11,622,826 to Basafa, U.S. Patent No. 11,812,938 to Wu, U.S. Patent No. 11,844,583 to Ye, U.S. Patent No. 12,042,241 to Wu, U.S. Patent No. 12,370,001 to Basafa, WO 2023 / 203491 to Gayet, and WO713392135v1 10225887-0910012024 / 150115 to Basafa, the entire contents of each of which are incorporated herein by reference.

[0036] Platform 200 may include a stage assembly, e.g., one or more stages coupled to the base portion of one or more robot arms, e.g., base portion 302a of robot arm 300a and base portion 302b of robot arm 300b (collectively referred to herein as base portion 302), for providing movement to the respective robot arm, e.g., in at least the horizontal and vertical directions relative to platform 200. For example, each stage may include vertical extenders, e.g., vertical extender 206a and vertical extender 206b, for independently moving robot arm 300a and robot arm 300b, respectively, vertically relative to platform 200, and horizontal extenders, e.g., horizontal extender 208a and horizontal extender 208b, for independently moving robot arm 300a and robot arm 300b, respectively, horizontally relative to platform 200, e.g., via one or more stage assembly motors operatively coupled to the vertical and horizontal extenders, to thereby permit the operator flexibility in positioning robot arms 300 relative to the patient. Accordingly, platform 200 may independently move each of robot arm 300a and robot arm 300b in any direction, including a first or vertical direction toward and away from the floor (e.g., along the z-axis), and / or a second or horizontal direction toward and away from the patient (e.g., along the x-axis), and / or a third direction or horizontal direction along a length of the patient (e.g., along the y-axis).

[0037] In addition, platform 200 may include a plurality of wheels 204, e.g., castor wheels, to provide mobility of platform 200, and accordingly, robot arms 300, within the operating room. Wheels 204 may each include a braking mechanism which may be actuated to prevent movement of platform 200 via wheels 204. Preferably, wheels 204 may be manually actuated by an operator to mechanically engage / disengage the respective braking mechanism. When ready for operation, platform 200 may be moved to a desired position at the side of the patient bed and locked in place via wheels 204, and the vertical and horizontal positions of robot arms 300a and 300b may be manually or automatically adjusted to an optimum position relative to the patient for the procedure via vertical extenders 206a, 206b and horizontal extenders 208a, 208b, responsive to user input received by graphical user interface display 210.713392135v1 11225887-091001

[0038] As shown in FIG. 1, system 100 further may include one or more optical scanners 202 for capturing depth data, and graphical user interface display 210 for displaying operational information as well as receiving user input. Optical scanners 202 may be, e.g., a LiDAR scanner or other suitable optical scanning device such as an RGBD camera or sensor, RGB camera with machine learning, a time-of-flight depth camera, structured light, multiple projection cameras, a stereo camera, ultrasound sensors, laser scanner, other type of coordinate measuring area scanner, or any combination of the foregoing, for providing a video stream of the surgical scene, e.g., via streaming, for monitoring and analysis, as described in U.S. Patent No. 11 ,980,431 to Alvarez, the entire contents of which is incorporated herein by reference. Optical scanners 202, and any other electronics, wiring, or other components of the system, may be supported via platform 200 such that optical scanners 202 are mounted in a fixed location relative to the other objects in the surgical space, and the position and orientation of optical scanners 202 are known or may be determined with respect to the global coordinate system of the system, and accordingly, the robot arms. This allows all data streams to be transformed into a single coordinate system for development purposes. Moreover, system 100 may include a plurality of depth sensors, e.g., proximity sensors 212, disposed on platform 200. Proximity sensors 212 may be, e.g., a depth camera, a stereo RGB camera, a LIDAR device, and / or an electromagnetic, capacitive, ultrasound, or infrared proximity sensor, etc.

[0039] Surgical robot system 100 is configured for co-manipulation, such that system 100 may assist the user or operator, e.g., a surgeon and / or surgical assistant, by permitting the user to freely move robot arms 300 due to manipulation of one or more surgical instruments coupled with the robot arms in response to force applied by the user to the surgical instruments. Accordingly, system 100 may be configured so that it is not controlled remotely during operation, e.g., via a remote surgeon console used in teleoperated robot systems, such that robot arms 300 move directly responsive to movement of the surgical instrument coupled thereto by the operator, while compensating for the mass of the surgical instrument and of the respective robot arm and providing localized impedance along the robot arm, thereby increasing the accuracy of the movements or actions of the operator as the operator manipulates the surgical instrument.713392135v1 12225887-091001

[0040] As will be understood by a person having ordinary skill in the art, system 100 may be used for any desired or suitable surgical operation. System 100 may be particularly useful in laparoscopic surgical procedures and / or other surgical procedures that utilize long and thin instruments that may be inserted, e.g., via trocars / cannulas, into the body of a patient to allow surgical intervention. In addition, the robot arms further may hold surgical instruments that may not have a long and thin instrument shaft, e.g., uterine manipulators, suction and irrigation probes, metal scoops, etc., by utilizing an adapter, as described in further detail below. Moreover, system 100 may be used in conjunction or cooperation with video monitoring provided by one or more cameras and / or one or more scopes so that an operator of system 100 may view and monitor the use of the instruments coupled with robot arms 300a, 300b via respective coupler interfaces 400a, 400b. For example, robot arm 300a may be removeably coupled with and manipulate a scope, while robot arm 300b may be removeably coupled with and manipulate a surgical instrument such as a grasper, retractor, etc.

[0041] Referring now to FIG. 2, a surgical support arm is provided. As described above, system 100 may include a plurality of robot arms, e.g., robot arm 300a and robot arm 300b; however, as each robot arm may be constructed identically, only a single robot arm, e.g., robot arm 300, is described with regard to FIG. 2 for brevity. Robot arm 300 may include a plurality of arm segments / links and a plurality of articulation joints extending from a base portion. For example, robot arm 300 may include a base portion, a shoulder portion, an elbow portion, and a wrist portion, thereby mimicking the kinematics of a human arm. As shown in FIG. 2, robot arm 300 may include a base, which includes base portion 302 rotatably coupled to shoulder portion 304 at base joint 303. For example, shoulder portion 304 may sit on top of base portion 302, and may be rotated relative to base portion 302 about axis QI at base joint 303. Moreover, as described above, the base of robot arm 300 may be mounted on platform 200, and selectively moved relative to platform 200 via the stage assembly of platform 200.

[0042] Robot arm 300 further may include shoulder link 305, which includes proximal shoulder link 306 rotatably coupled to distal shoulder link 308. A proximal end of proximal shoulder link 306 may be rotatably coupled to shoulder portion 304 of the base at shoulder joint 318, such that proximal shoulder link 306 may be rotated relative to shoulder portion 304 about axis Q2 at shoulder joint 318. As shown in FIG. 2, axis Q2 may be perpendicular to axis QI.713392135v1 13225887-091001The distal end of proximal shoulder link 306 may be rotatably coupled to the proximal end of distal shoulder link 308 at joint 320, such that distal shoulder link 308 may be rotated relative to proximal shoulder link 306 about axis Q3 at joint 320. As shown in FIG. 2, axis Q3 may be parallel to the longitudinal axis of shoulder link 305.

[0043] In addition, robot arm 300 may include actuator 330, e.g., a collar, lever, button, or switch, operatively coupled to a motor operatively coupled to distal shoulder link 308 and / or proximal shoulder link 306 at joint 320, such that distal shoulder link 308 may only be rotated relative to proximal should link 306 upon actuation of actuator 330. As shown in FIG. 2, actuator 330 may be a collar rotatably coupled to a link of robot arm 300, e.g., elbow link 310 described below, such that rotation of collar 330 in a first direction about the longitudinal axis of link 310 may cause distal shoulder link 308 to rotate in a corresponding first direction relative to proximal shoulder link 306, and rotation of collar 330 in a second direction about the longitudinal axis of link 310 opposite to the first direction may cause distal shoulder link 308 to rotate in a corresponding second direction relative to proximal shoulder link 306 opposite to the corresponding first direction.

[0044] As shown in FIG. 2, collar 330 may include setup mode actuator 336 disposed thereon, e.g., a button, which the system may require to be actuated to permit a rotation of collar 330 to cause a corresponding rotation of distal shoulder link 308 relative to proximal shoulder link 306. For example, the user may be required to actuate setup actuator 336 to switch the system to the user-guided setup mode, and maintain setup actuator 336 in an actuated state while collar 330 is rotated to cause a corresponding rotation of distal shoulder link 308 relative to proximal shoulder link 306. Accordingly, motorized axis Q3 may be a “setup” axis, such that distal shoulder link 308 may be automatically rotated and fixed relative to proximal shoulder link 306 upon actuation of actuator 330 and / or setup actuator 336, e.g., during a setup stage of robot arm 300, prior to operation of robot arm 300 in a surgical procedure. The system may switch between the operating stage and the setup stage during a surgical procedure to permit reconfiguration of the robot arm via the setup joints as needed.

[0045] As shown in FIG. 2, robot arm 300 further may include elbow link 310. A proximal end of elbow link 310 may be rotatably coupled to a distal end of distal shoulder link 308 at713392135v1 14225887-091001 elbow joint 322, such that elbow link 310 may be rotated relative to distal shoulder link 308 about axis Q4 at elbow joint 322. Robot arm 300 further may include wrist portion 311, which may include proximal wrist link 312 rotatably coupled to the distal end of elbow link 310 at wrist joint 324, middle wrist link 314 rotatably coupled to proximal wrist link 312 at joint 326, and distal wrist link 316 coupled to / extending from middle wrist link 314, which may be rotatably coupled to surgical instrument coupler interface 400 (not shown) at joint 328, as further described in further detail with regard to FIG. 3. Accordingly, wrist portion 311 may be rotated relative to elbow link 310 about axis Q5 at wrist joint 324, middle wrist portion 314 may be rotated relative to proximal wrist link 312 about axis Q6 at joint 326, and surgical instrument coupler interface 400 may be rotated relative to distal wrist link 316, and accordingly middle wrist link 314, about axis Q7 at joint 328.

[0046] Referring again to FIG. 2, robot arm 300 may include actuator 332, e.g., a clutch lever, button, or switch, operatively coupled to elbow link 310 and / or proximal wrist link 312 at joint 324, e.g., a setup joint, such that proximal wrist link 312 may only be rotated relative to elbow link 310 upon actuation of actuator 332. Accordingly, axis Q5 may be a “setup” axis, such that proximal wrist link 312 may be rotated and fixed relative to elbow link 310 during the setup stage, upon actuation of actuator 332. When actuator 332 is in an unactuated state, setup joint 324 prevents relative movement between proximal wrist link 312 and elbow link 310, such that proximal wrist link 312 is fixed relative to elbow link 310. In some preferred embodiments, upon actuation of actuator 332, proximal wrist link 312 may be manually rotated in predefined increments relative to elbow link 310, thereby removing the necessity of having additional motors and / or electronics at the distal region of robot arm 300.

[0047] Robot arm 300 further may include a plurality of motors, e.g., motors Ml, M2, M3, which may all be disposed within the base of robot arm 300, and M4, which preferably may be disposed adjacent to joint 320. In addition, as described above, system 100 may include one or more stage assembly motors operatively coupled to the stage assembly of platform 200, preferably disposed within platform 200. Each of motors Ml, M2, M3, may be operatively coupled to a respective motorized joint of robot arm 300, e.g., base joint 303, shoulder joint 318, and elbow joint 322, to thereby apply a localized impedance at the respective joint. For example, motors Ml, M2, M3 may produce an impedance / torque at any of base joint 303, shoulder joint713392135v1 15225887-091001318, and elbow joint 322, respectively, to thereby effectively apply a desired impedance at the distal end of robot arm, e.g., at the attachment point with the surgical instrument, to improve the sensations experienced by the operator during manipulation of the surgical instrument as well as the actions of the operator during surgical procedures. For example, impedance may be applied to the distal end of robot arm 300, and accordingly the surgical instrument coupled thereto, to provide a sensation of a viscosity, a stiffness, and / or an inertia to the operator manipulating the surgical instrument. Moreover, applied impedances may simulate a tissue density or stiffness, communicate surgical boundaries to the operator, and may be used to direct a surgical instrument along a desired path, or otherwise.

[0048] In some embodiments, the motors may actuate the respective joints to thereby cause movement of robot arm 300 about the respective joints. Accordingly, axis QI, axis Q2, and axis Q4 may each be a “motorized” axis, such that motors Ml, M2, M3 may apply an impedance / torque to base joint 303, shoulder joint 318, and elbow joint 322, respectively, to inhibit or actuate rotation about the respective axis. With three motorized axes, some implementations of robot arm 300 may apply force / torque at the distal end of robot arm 300 in three directions to thereby move the surgical instrument coupled to the distal end of robot arm 300 in three degrees of freedom. For example, system 100 may automatically move each of robot arms 300 to one or more preset configurations, e.g., via the motorized joints of the robot arms, upon selection of the preset configuration, e.g., via GUI 210, during the setup stage. The preset configurations may be user specific based on user preference for a given surgical procedure and may be stored in a surgeon profile associated with the user, as described in U.S. Patent Appl. Publ. No. 2024 / 0024053 to Wu.

[0049] As described above, motor M4 may be operatively coupled to setup joint 320 to thereby apply a torque to joint 320 to actuate rotation of distal shoulder link 308 relative to proximal shoulder link 306 about axis Q3. Unlike the other motorized joints described herein, e.g., base joint 303, shoulder joint 318, and elbow joint 322, motorized joint 320 is preferably not “back-drivable,” in that the user cannot actuate motorized joint 320, e.g., via movement of the surgical instrument coupled to the robot arm when the system is in co-manipulation mode. Instead, as described above, actuation of motorized joint 320 may be conducted via one or more actuators, e.g., actuator 330, setup actuator 336, and / or an actuator displayed on GUI 210, that713392135v1 16225887-091001 may be actuated to automatically cause rotation of distal shoulder link 308 relative to proximal shoulder link 306.

[0050] Axis Q6 and axis Q7 may each be a “passive” axis, such that middle wrist link 314 may be rotated relative to proximal wrist link 312 at passive joint 326 without any applied impedance from system 100, and surgical instrument coupler interface 400 may be rotated relative to distal wrist link 316 at passive joint 328 without any applied impedance from system 100. The distal end of distal wrist link 316 may be rotatably coupled to surgical instrument coupler interface 400, e.g., at a passive joint, for removably coupling with a surgical instrument, e.g., via coupler body 500 as shown in FIG. 3, which may be removeably coupled to the surgical instrument and to coupler interface 400, as described in further detail below. Alternatively, wrist portion 311 may include a passive ball joint at the attachment point with the surgical instrument, as described in U.S. Patent No. 10,582,977, the entire content of which is incorporated herein by reference.

[0051] Referring again to FIG. 2, robot arm 300 further may include a plurality of encoders, e.g., encoders E1-E7, disposed on at least some of the plurality of joints of robot arm 300 for measuring angulation and / or angular rotation between adjacent links of robot arm 300. The encoders may be absolute encoders or other position / angulation sensors configured to generate data for accurately determining the position and / or angulation of corresponding links at the respective joint and / or the exact position of the surgical instrument coupled to the distal end of robot arm 300. Accordingly, the exact position of each link, joint, and the distal end of robot 300 may be determined based on measurements obtained from the plurality of encoders. Preferably, a redundant encoder is disposed at each location along robot arm 300 where an encoder is placed, to provide more accurate position data, as well as, to facilitate detection of a fault condition, e.g., when the readings between an encoder and a redundant encoder differs.

[0052] Prior to attachment with a surgical instrument, robot arm 300 may be manually and / or automatically manipulated by a user, e.g., via actuation of setup joints 320, 324 and / or the stage assembly of platform 200 to position robot arm 300 in a desired position for coupling with the surgical instrument. For example, as described above, upon actuation of actuator 330 and / or actuator 336, the user may automatically rotate distal shoulder link 308 relative to proximal713392135v1 17225887-091001 shoulder link 306, and upon actuation of actuator 332, the user may manually manipulate proximal wrist portion 312 relative to distal shoulder link 308. Moreover, robot arm 300 may further be manually moved by application of a force directly on the other links and / or joints of robot arm 300. Upon attachment to the surgical instrument, robot arm 300 may still be manipulated manually by the user exerting force, e.g., one or more linear forces and / or one or more torques, directly to robot arm 300; however, in the operating stage, the operator preferably manipulates robot arm 300 only via the handle of the surgical instrument, which applies force / torque to the distal end of the robot arm 300, and accordingly the links and joints of robot arm 300. As the operator applies a force to the surgical instrument attached to robot arm 300, thereby causing movement of the surgical instrument, robot arm 300 will move responsive to the movement of the surgical instrument to provide the operator the ability to freely move surgical instrument relative to the patient. As will be understood by a person having ordinary skill in the art, robot arm 300 may include less or more articulation joints than is shown in FIG. 2, as well as a corresponding number of motors and encoders / sensors.

[0053] In addition, each of robot arms 300 further may include indicators 334 for visually indicating the operational mode associated with the respective robot arm in real-time. Indicators 334 may include lights, e.g., LED lights, and may be programmed to illuminate in a predetermined amount of colors and in distinct patterns, e.g., solid on or blinking, to thereby convey predetermined statuses of the overall system and / or specific statuses of the system and the robot arm, e.g., when a coupler is mounted on the robot arm, the current operational mode of the robot arm, etc., as described in, for example, U.S. Patent No. 11,504,197.

[0054] Referring now to FIG. 3, a close-up view of the coupling mechanism of coupler interface 400 and coupler body 500 is provided. The coupling mechanism may be constructed as described in U.S. Patent No. 11,812,938. For example, the coupling mechanism may include coupler interface 400 at the distal end of the distal-most link of the robot arm (illustratively, link 316), and a coupler body, e.g., coupler body 500, which may be configured to be removably coupled to a surgical instrument and to coupler interface 400, such that a sterile drape may be placed between coupler interface 400 and coupler body 500. Accordingly, coupler body 500 may be disposable, or alternatively, sterilizeable between surgical procedures. Moreover, coupling mechanism 4400 may be operatively coupled to one or more sensors for detecting when713392135v1 18225887-091001 coupler body 500 is coupled to coupler interface 400, and when a surgical instrument is coupled to coupler body 500 when coupler body 500 is coupled to coupler interface 400, as well as the type / size of the surgical instrument coupled to coupler body 500, as described in further detail below.

[0055] FIGS. 4 A and 4B illustrate coupler interface 400 at the distal end of link 316 of the robot arm. Coupler interface 400 may include protrusion 404 extending from flat portion 402, and extended portion 408 configured to be inserted within link 316. As shown in FIG. 4A, flat portion 402 may have an outer diameter that coincides with the outer diameter of link 316. Moreover, coupler interface 400 may include a metal rod, e.g., ferrous rod 410, extending through coupler interface 400 from protrusion 404 through extended portion 408. Link 316 may include one or more sensors, e.g., Hall effect sensors 414, configured to detect a magnetic field induced in ferrous rod 410. Preferably, link 316 includes at least two Hall effect sensors to provide redundancy for more accurate magnetic field measurements. As shown in FIG. 4A, Hall effect sensors 414 may be positioned adjacent to a proximal end of ferrous rod 410. In addition, coupler interface 400 may include repulsion magnet 412 disposed within protrusion 404 adjacent to the distal end of ferrous rod 412. Repulsion magnet 412 is configured to apply a magnetic force to a magnet slidably disposed within the coupler body to facilitate determination of when the coupler body is coupled to coupler interface 400 and no surgical instrument is coupled to the coupler body, e.g., by causing the magnet to move to a position within the coupler body with a maximum distance from ferrous rod 410, and / or to facilitate coupling of the surgical instrument to the coupler body, as described in further detail below. Moreover, as described above, robot arm 300 may include one or more encoders E7 for measuring angulation of between middle wrist link 314 and distal wrist link 316, which may be disposed on or adjacent to joint 328, e.g., within link 316. For example, encoders E7 may include two or more encoders positioned circumferentially around extended portion 408 of coupler interface 400.

[0056] As shown in FIG. 4B, protrusion 404 may have a non-circular profile, which corresponds to the geometry of groove 505 of coupler body 500, as described in further detail below. For example, as shown in FIG. 4B, protrusion 404 may have a diamond-shaped profile. Accordingly, when protrusion 404 is disposed within groove 505 of connection portion 504 of the coupler body, as described in further detail below, rotational movement between coupler713392135v1 19225887-091001 interface 400 and the coupler body is prevented. Moreover, protrusion 404 may include one or more locking portions 406 disposed on the outer surface of the sidewall of protrusion 404. For example, locking portions 406 may be indentations / grooves extending along the outer surface of protrusion 404, and sized and shaped to engage with the locking arms of the coupler body, as described in further detail below, for securing the coupler body to coupler interface 400, and for securing a sterile drape between the coupler body and coupler interface 400. Preferably, protrusion 404 includes at least a pair of locking portions 406. For example, as shown in FIG. 4B, the pair of locking portions 406 may be disposed on opposing apexes of the diamond-shaped profile of protrusion 404. Accordingly, the coupler body may be securely coupled to coupler interface 400 in two orientations.

[0057] As shown in FIG. 4B, coupler interface 400 further may include one or more additional protrusions 410, e.g., “mating dots,” disposed on flat portion 402. For example, coupler interface 400 may include a plurality of protrusions 410, preferably evenly spaced apart along flat portion 402, e.g., adjacent to the outer edge of flat portion 402. Protrusions 410 may have a geometry that corresponds with the geometry of one or more additional grooves 507 of connection portion 504, as described in further detail below with regard to FIG. 6A. For example, protrusions 410 may have a semi-spherical shape, and grooves 507 may have a corresponding semi-spherical shape.

[0058] Referring now to FIGS. 5A and 5B, coupler body 500 is provided. Coupler body 500 may be configured to be removably coupled to a surgical instrument having a predefined shaft diameter, e.g., a 10 mm surgical instrument. Coupler body 500 is preferably designed to be locked to the distal end of the robot arm with a sterile drape therebetween such that the robot arm remains covered and sterile throughout a procedure. Further, coupler body 500 also has a separate portion for locking to a surgical instrument (e.g., a commercially available laparoscopic instrument) to permit the clinician to perform the surgeries with the robot arm(s) as described herein. As shown in FIG. 5A, coupler body 500 may include coupler interface connection portion 504 and surgical instrument connection portion 502. Coupler interface connection portion 504 and surgical instrument connection portion 502 may generally have an outer diameter that coincides with the outer diameters of flat portion 402 of coupler interface 404 and link 316. Additionally, coupler interface connection portion 504 may include a pair of locking713392135v1 20225887-091001 arms 506 configured to facilitate securing of coupler body 500 to coupler interface 400, as described in further detail below with regard to FIGS. 6C and 6D.

[0059] Surgical instrument connection portion 502 may include opening 516 extending therethrough, sized and shaped to receive the shaft of a surgical instrument. For example, opening 516 may be sized and shaped to receive a 10 mm surgical instrument shaft. Opening 516 may be defined by a channel extending downward from an upper surface of surgical instrument connection portion 502 such that a surgical instrument may be inserted into opening 516 via the channel. As shown in FIGS. 5 A and 5B, the upper surface of surgical instrument connection portion 502 may include tapered portions 514 that angle downward towards opening 516, thereby defining the channel into opening 516. Accordingly, tapered portions 514 ensure that the shaft of the surgical instrument is properly inserted into opening 516 in one of two orientations by rotating coupler body 500 and accordingly distal wrist link 316 to align with the longitudinal axis of the surgical instrument in one of two orientations. For example, tapered portions 514 may facilitate in “self-alignment” of the distal end of robot arm 300, e.g., by causing coupler body 500, and accordingly coupler interface 400 coupled thereto, to automatically rotate relative to distal wrist link 316 about axis Q7 at passive joint 328 as the instrument shaft is guided down tapered portions 514, such that the longitudinal axis of opening 516 aligns with the longitudinal axis of the surgical instrument. Accordingly, the user does not need to align the instrument shaft to opening 516, but rather, opening 516 rotates via rotation of coupler body 500 and distal wrist link 316 relative to middle wrist link 314 to align with the longitudinal axis of the instrument shaft.

[0060] In addition, surgical instrument connection portion 502 may include clamp 518 pivotally coupled to surgical instrument connection portion 502 about axis 512, such that clamp 518 may be transitionable between an unlocked state and a locked state. Moreover, clamp 518 may be pivotally coupled to surgical instrument connection portion 502 via a torsion spring, such that clamp 518 is biased toward the locked state. Clamp 518 may include locking portion 520 configured to secure the surgical instrument within opening 516 when clamp 518 is in its locked state. For example, a lower surface of locking portion 520 may define the upper surface of opening 516 when clamp 518 is in its locked state, such that locking portion 520 prevents713392135v1 21225887-091001 upward movement of the surgical instrument when the surgical instrument is positioned within opening 516 and clamp 518 is in its locked state.

[0061] The upper surface of locking portion 520 may be tapered to facilitate guidance of the surgical instrument into opening 516 along with tapered portions 514. For example, the upper surface of locking portion 520 may have a tapered angle that more or less coincides with the tapered angles of tapered portions 514. Accordingly, in some embodiments, the tapered angle of locking portion 520 may be alone sufficient to permit a surgical instrument to be inserted into opening 516, such that insertion of the surgical instrument towards opening 516 applies a force against the tapered upper surface of locking portion 520, thereby causing clamp 518 to rotate about axis 512 from the locked state to the unlocked state to permit the surgical instrument to be received by opening 516. Clamp 518 further may include handle 522 sized and shaped to be actuated by the user’s fingers to transition clamp 518 from the locked state to the unlocked state. For example, handle 522 may be actuated to transition clamp 518 to the unlocked state for insertion of the surgical instrument into opening 516, and / or for removal of the surgical instrument from opening 516.

[0062] Moreover, coupler body 500 further may include switch 524 pivotally coupled to surgical instrument connection portion 502, and configured to facilitate securement of the surgical instrument within opening 516. For example, switch 524 may include one or more surgical instrument engagement portions 526, each having a geometry that corresponds with the outer diameter of the shaft of the surgical instrument to be inserted within opening 516. In addition, switch 524 may include handle portion 528 sized and shaped to be actuated by the user’s fingers to transition switch 524 between an unlocked state and a locked state where surgical instrument engagement portion 526 engages with the surgical instrument shaft within opening 516 and applies a friction force to the surgical instrument shaft.

[0063] In some embodiments, switch 524 may include two surgical instrument engagement portions 526, one on each side of switch 524, such that switch 524 may be rotated from its unlocked state in either direction to transition to its locked state where one of the surgical instrument engagement portions will engage with the surgical instrument within opening 516. Accordingly, in its locked state, surgical instrument engagement portion 526 further defines713392135v1 22225887-091001 opening 516. Surgical instrument engagement portion 526 may have a coefficient of friction, such that when the surgical instrument is disposed within opening 516 and switch 524 is in its locked state, surgical instrument engagement portion 526 applies a friction force against the surgical instrument that prevents longitudinal movement of the surgical instrument relative to coupler body 500, while permitting rotational movement of the surgical instrument within opening 516. Accordingly, when the surgical instrument is disposed within opening 516, switch 524 may be actuated to its unlocked state to permit the user to readj ust / move the surgical instrument longitudinally relative to coupler body 500 within opening 516, and back to its locked state to prevent longitudinal movement of the surgical instrument relative to coupler body 500. Preferably, both switch 524 and clamp 518 must be in their unlocked states to permit removal of the surgical instrument from coupler body 500.

[0064] FIG. 5B is a cross-sectional view of coupler body 500. As shown in FIG. 5B, coupler body 500 further may include holder 530 disposed within surgical instrument connection portion 502. Holder 530 is configured to be slidably disposed within surgical instrument connection portion 502, e.g., toward or away from coupler interface connection portion 504. Moreover, holder 530 is configured to hold magnet 540. For example, holder 530 may include one or more cradles 534 extending between a contact surface, e.g., friction pad 532, and magnet harness 538 configured to hold magnet 540. Each cradle 534 of holder 530 may include channel 536 extending within cradle 534 in a direction from magnet harness 538 towards friction pad 532. Channels 536 may be sized and shaped to slidably receive a longitudinally extending rod therethrough, such that the longitudinally extending rod extends along axis 512 between channels 536. Clamp 518 may be pivotally coupled to the longitudinally extending rod, such that clamp 518 may rotate about axis 512, as described above. Axis 512 may be fixed relative to surgical instrument connection portion 502, such that holder 530 may move toward / away from coupler interface connection portion 504 via movement of channel 536 along the longitudinally extending rod.

[0065] As shown in FIG. 5B, the upper surface of friction pad 532 defines the lower surface of opening 516. The upper surface of friction pad 532 may have a curved profile, which may coincide with the curvature of the surgical instrument. Friction pad 532 may have a coefficient of friction, such that when the surgical instrument is disposed within opening 516 and switch 524713392135v1 23225887-091001 is in its locked state, friction pad 532 applies a friction force against the surgical instrument that prevents longitudinal movement of the surgical instrument relative to coupler body 500, while permitting rotational movement of the surgical instrument within opening 516. As will be understood by a person having ordinary skill in the art, friction pad 532 may be formed of a single or multiple pieces configured to contact the surgical instrument within opening 516, or alternatively, may be wrapped around the upper surface of holder 530 or otherwise integrated with holder 530. When switch 524 is moved to its unlocked state, the friction force of friction pad 532 may not be sufficient to prevent longitudinal movement of the surgical instrument relative to coupler body 500.

[0066] Magnet 540 may have a magnetic force such that when coupler body 500 is coupled to coupler interface 400, magnet 540 induces a magnetic field, which may be detected by one or more magnetic field sensors, e.g., disposed within link 316 and / or coupler interface 400. Accordingly, the strength of the induced magnetic field will be proportional to the distance between magnet 540 and coupler interface 400 such that the magnetic field detected by the magnetic field sensors may be indicative of the position of magnet 540, and accordingly holder 530, within coupler body 500. Similarly, when no magnetic field is induced via magnet 540, the magnetic field sensors may detect that coupler body 500 is not coupled to coupler interface 400. Moreover, the repulsion magnet of coupler interface 400 may have a magnetic force such that when coupler body 500 is coupled to coupler interface 400, the repulsion magnet applies a magnetic force to magnet 540 to thereby cause magnet 540, and accordingly holder 530, to move away from coupler interface connection portion 504. The position of holder 530 relative to coupler body 500 may be indicative of whether a surgical instrument is or is not coupled to coupler body 500 when coupler body 500 is coupled to coupler interface 400. For example, without the repulsion magnet of coupler interface 400 within the vicinity of magnet 540, no magnetic force will be applied to magnet 540 to cause displacement of holder 530, e.g., toward opening 516, such tthat holder 530 may be in a neutral position, e.g., towards coupler interface connection portion 504 due to gravity.

[0067] When coupler body 500 is coupled to coupler interface 400 and no surgical instrument is coupled to coupler body 500, the repulsion magnet may apply a magnetic force to magnet 540, thereby causing magnet 540, and accordingly holder 530, to move towards opening713392135v1 24225887-091001516 and away from coupler interface 400 within channel 503, e.g., to a position within coupler body 500 with a maximum distance from coupler interface 400. Thus, when coupler body 500 is coupled to coupler interface 400, friction pad 532 may be closer to locking portion 520 of clamp 518, thereby reducing the size of opening 516. Moreover, the induced magnetic field by magnet 540 when magnet 540 is in the position within channel 503 farthest away from coupler interface 400 responsive to the magnetic force of the repulsion magnet when coupler body 500 is coupled to coupler interface 400 and no instrument is coupled to coupler body 500, may provide a clean signal that may be detected by the magnetic field sensors, indicative of coupler body 500 being coupled to coupler interface 400 without a surgical instrument attached thereto. Accordingly, the system may determine that coupler body 500 is coupled to coupler interface 400 with no surgical instrument coupled to coupler body 500, based on the strength of the magnetic field induced by magnet 540, e.g., when magnet 540 is a maximum distance from coupler interface 400 within coupler body 500.

[0068] Moreover, when the elongated shaft of a surgical instrument is inserted within opening 516, the shaft applies a downward force against friction pad 532, thereby causing holder 530 to move downward within channel 503 and increasing the size of opening 516 until the shaft is completely disposed within opening 516 and clamp 518 is permitted to transition back to its locked state, such that the shaft is positioned between the lower surface of locking portion 520 and friction pad 532. Upon release of the surgical instrument by the user, friction pad 532 applies an upward force against the shaft due to the magnetic force of the repulsion magnet applied against magnet 540, such that the shaft is pinned between the lower surface of locking portion 520 and friction pad 532. Accordingly, the magnetic field induced by magnet 540 when magnet 540 is in the position within channel 503 responsive to the magnetic force of the repulsion magnet when coupler body 500 is coupled to coupler interface 400 as well as the force applied to holder 530, and accordingly magnet 540, by the shaft via friction pad 532, may be detected by the magnetic field sensors, and which may be indicative of coupler body 500 being coupled to coupler interface 400, and the surgical instrument being coupled to coupler body 500. Accordingly, the system may determine that coupler body 500 is coupled to coupler interface 400 and that surgical instrument 10 is coupled to coupler body 500, based on the strength of the magnetic field induced by magnet 540.713392135v1 25225887-091001

[0069] Moreover, the position of magnet 540 within channel 503 will depend on the diameter size of the surgical instrument disposed within opening 516 when coupler body 500 is coupled to coupler interface 400, such that the induced magnetic field will vary based on the surgical instrument shaft size disposed within opening 516. Accordingly, the system may identify the precise size of the surgical instrument shaft based on the strength of the magnetic field induced by magnet 540, as detected by the magnetic field sensors. Based on the identified type of surgical instrument coupled to coupler body 500, the system may load the calibration file associated with the identified surgical instrument as described above. Moreover, based on the identified make of the surgical instrument, provided that each specific make has a distinguishable shaft diameter size, the system may determine whether the attached surgical instrument is authorized for use with the system.

[0070] Referring now to FIG. 6A, coupler interface connection portion 504 for coupling coupler body 500 to coupler interface 400 is provided. Coupler interface connection portion 504 may include groove 505 extending inward from a bottom surface of coupler body 500. Groove 505 may have a geometry that corresponds with the profile shape of protrusion 404 of coupler interface 400, such that protrusion 404 may be received by groove 505. Accordingly, the geometry of groove 505 may include two straight sides connected by two curved sides. The sterile drape may be positioned between protrusion 404 and groove 505 when protrusion 404 is disposed within groove 505. Preferably, the profile of protrusion 404 and the corresponding geometry of groove 505 are symmetrical such that protrusion 404 may be received by groove 505 in at least two orientations. Moreover, the profile of protrusion 404 and the corresponding geometry of groove 505 may guide the coupling of coupler body 500 to coupler interface 400 by the user.

[0071] As shown in FIG. 6 A, additional grooves 507 may be disposed along connection portion 504, such that grooves 507 are aligned with protrusions 410 so that protrusions 410 may be disposed within grooves 507 when connection portion 504 is coupled to coupler interface 400, as shown in FIG. 6B. Accordingly, when protrusion 402 is disposed within groove 505 of connection portion 504, and protrusions 410 are disposed within grooves 507, rotational movement between coupler interface 400 and connection portion 504, and accordingly coupler body 500, is prevented. As will be understood by a person having ordinary skill in the art,713392135v1 26225887-091001 coupler interface 400 and connection portion 504 may include more or less protrusions 410 and grooves 507, respectively, than are shown in FIGS. 4B and 6A. In addition, other coupler bodies described herein, e.g., coupler body 700, may include similar additional grooves for providing additional stabilization when the coupler interface is coupled to the coupler body.

[0072] As shown in FIG. 6C, connection portion 504 may include a pair of locking arms 506 configured to facilitate securing of coupler body 500 to coupler interface 400 when protrusion 404 is disposed within groove 505. Each of locking arms 506 may include handle portion 510 sized and shaped to be actuated by the user’s fingers, and connection portion 508 sized and shaped to engage with locking portions 406 of protrusion 404. For example, connection portion 508 may have a tapered profile for securely engaging with locking portion 406. Locking arms 506 may be pivotally coupled to coupler interface connection portion 504, such that locking arms 506 may be transitionable between an unlocked state where locking arms 506 are disengaged from protrusion 404, as shown in FIG. 6C, and a locked state where connection portion 508 of locking arms 506 are engaged with locking portions 406 of protrusion 404, as shown in FIG. 6D. Moreover, locking arms 506 may be pivotally coupled to coupler interface connection portion 504 via a spring, e.g., a torsion spring, an extension spring, a compression spring, etc., such that locking arms 506 are biased toward the locked state. Accordingly, handle 510 may be actuated to transition locking arms 506 from the locked state to the unlocked state.

[0073] Referring now to FIGS. 7A to 7E, an exemplary coupler body for coupling a surgical instrument, e.g., having a shaft diameter between about 4.5 to 5.5 mm, to the distal end of robot arm 300, e.g., via coupled interface 400, is provided. Particularly, surgical instruments having a long and thin shaft that are generally classified as 5 mm surgical instruments, e.g., instruments having a predefined shaft diameter of 5 mm, may actually have a shaft diameter that ranges between 4.5 to 5.5 mm, e.g., between 4.7 to 5.1 mm. Accordingly, coupler body 700 is configured to be removably coupled to any surgical instrument having a having a predefined shaft diameter ranging between 4.5 to 5.5 mm.

[0074] As shown in FIG. 7A, coupler body 700 may include surgical instrument connection portion 702 and coupler interface connection portion 704. Some features of coupler body 700 may be constructed similar to coupler body 500, described above. For example, coupler713392135v1 27225887-091001 interface connection portion 704 may correspond with coupler interface connection portion 504, and may include a pair of locking arms 706 having handle portion 710 and configured to facilitate securing of coupler body 700 to coupler interface 400. In addition, the upper surface of surgical instrument connection portion 702 may similarly include tapered portions 714 that angle downward towards opening 716, thereby defining a channel into opening 716 that ensures that the shaft of the surgical instrument is properly inserted into opening 716 in one of two orientations and facilitates in “self-alignment” of the distal end of robot arm 300, e.g., by causing coupler body 700, and accordingly coupler interface 400 coupled thereto, to automatically rotate relative to distal wrist link 316 about axis Q7 at passive joint 328 as the instrument shaft is guided down tapered portions 714, such that the longitudinal axis of opening 716 aligns with the longitudinal axis of the surgical instrument. Moreover, holder 730 having friction pad 732 may correspond with holder 530 having friction pad 532, to thereby define the lower surface of opening 716 and to hold a magnet, as described above for automatically determining whether coupler body 700 is coupled to coupler interface 400 and / or whether a surgical instrument is coupled to coupler body 700 when coupler body 700 is coupled to coupler interface 400.

[0075] Coupler body 700 differs from coupler body 500 in that switch 724 does not engage with the surgical instrument to apply a friction force against the surgical instrument that prevents longitudinal movement of the surgical instrument relative to the coupler body. Instead, switch 724 may be actuated to engage with clamp 718 to provide a locking force thereto to provide the friction force against the surgical instrument. For example, clamp 718 may be pivotally coupled to surgical instrument connection portion 702 about axis 712, which is not fixed and may be shifted along an axis perpendicular to the axis of rotation of axis 712, e.g., towards and away from opening 716. For example, rather than being coupled to a single hole, the rod within surgical instrument connection portion 702 about which clamp 718 is pivotally coupled to may be coupled via a slot extending longitudinally along the axis perpendicular to the longitudinal axis of the rod. Accordingly, clamp 718 may be pivotally and slidable coupled to surgical instrument connection portion 702 such that clamp 718 may be transitionable between an open state and a closed state, and to provide upward and downward movement of clamp 718 to thereby engage the surgical instrument within opening 716, as described in further detail below. Moreover, clamp 718 may be pivotally coupled to surgical instrument connection portion 702 via713392135v1 28225887-091001 a torsion spring, such that clamp 718 is biased toward the closed state in the upward direction, e.g., away from opening 716.

[0076] Clamp 718 may include locking portion 720 configured to secure the surgical instrument within opening 716 when clamp 718 is in its closed state. For example, a lower surface of locking portion 720 may include friction pad 721, which defines the upper surface of opening 716 when clamp 718 is in its closed state, such that locking portion 720 prevents upward movement of the surgical instrument when the surgical instrument is positioned within opening 716 and clamp 718 is in its closed state, and further applies a downward force to the surgical instrument when switch 728 is engaged with clamp 718 it its closed state, as described in further detail below. Friction pad 721 may be formed of the same material as friction pad 732 of holder 730. Advantageously, engagement of a surgical instrument that has a soft polymer jacket disposed on its elongated shaft with both friction pad 721 from below and friction pad 732 from above during a surgical procedure may prevent damage to the surgical instrument over time.

[0077] Like clamp 718, the upper surface of locking portion 720 of clamp 718 may be tapered to facilitate guidance of the surgical instrument into opening 716 along with tapered portions 714 of surgical instrument connection portion 702. Accordingly, insertion of the surgical instrument towards opening 716 may apply a force against the tapered upper surface of locking portion 720 and cause clamp 718 to rotate about axis 712 from the closed state, as shown in FIG. 7A, to the open state to permit the surgical instrument to be received by opening 716. Clamp 718 further may include handle 722 sized and shaped to be actuated by the user’s fingers to transition clamp 718 from the closed state to the open state, e.g., for insertion / removal of the surgical instrument from opening 716.

[0078] As shown in FIG. 7B, the upper surface of locking portion 720 of clamp 718 further may include channel 742 extending therein and sized and shaped to lockably and releasably receive the engagement portion of switch 724, as described in further detail below. As shown in FIG. 7B, the upper surface of locking portion 720 further may include tooth 748 extending upwardly along a lateral edge of locking portion 720, such that an upper surface of tooth 748 has a taper that matches the taper of the upper surface of locking portion 720. Tooth 748 may have a semi-circular shape, such that channel 742 may have a U-shape extending from a first portion713392135v1 29225887-091001 along the lateral edge of locking portion 720 around tooth 748 to a second portion along the lateral edge of locking portion 720. Channel 742 further may include stop 743 disposed in a middle region thereof, e.g., at the halfway point along channel 742 between the entry ends of channel 742 at the lateral edge of locking portion 720. Stop 743 may be sized and shaped to be securely and releasably received within corresponding groove 727 of engagement portion 726 of switch 724, as described in further detail below. As shown in FIG. 7B, the lower surface of channel 742 may include a first ramped portion 744, e.g., adjacent to the lateral edge of locking portion 720, and a second flat portion 746, such that upon actuation of switch 724, engagement portion 726 of switch 724 first engages with ramped portion 744 followed by flat portion 746.

[0079] Referring again to FIG. 7A, switch 724 may be pivotally and slidably coupled to surgical instrument connection portion 702, and configured to facilitate securement of the surgical instrument within opening 716 via engagement with locking portion 720 of clamp 718. For example, switch 724 may be moved relative to surgical instrument connection portion 702 translationally along the same axis by which it is rotated relative to surgical instrument connection portion 702. Switch 724 may include handle portion 728 sized and shaped to be actuated by the user’s fingers to cause rotation of switch 724 and transition switch 724 between an unlocked state and a locked state where engagement portion 726 engages with locking portion 720 of clamp 718. For example, switch 724 may include one or more engagement portions 726, each having ramped portion 750 and flat portion 752, as shown in FIG. 7C.

[0080] Switch 724 may include two engagement portions 726, one on each side of switch 724, such that switch 724 may be rotated from its unlocked state towards its unlocked state in either direction. As shown in FIG. 7C, the height of engagement portion 726 may increase from a first engagement end of ramped portion 750, along ramped portion 750 towards flat portion 752 such that flat portion 752 has a larger height than the first engagement end of ramped portion 750. Moreover, engagement portion 726 may form a lip extending downward from the upper surface of switch 718 and sized and shaped to be received within channel 742 of locking portion 720 of clamp 718, e.g., around tooth 748. Accordingly, upon actuation of switch 724, engagement portion 726 is rotated towards locking portion 720 such that ramped portion 750 first engages with ramped portion 744 of channel 742 and slides along ramped portion 744713392135v1 30225887-091001 within channel 742 until flat portion 752 engages with flat portion 746 of channel 742, as shown in FIG. 7D.

[0081] Moreover, each engagement portion 726 may include groove 727 having a geometry corresponding to the geometry of stop 743 within channel 742 of locking portion 720 of clamp 718, such that groove 727 may securely and releasably receive stop 743 therein to thereby maintain switch 724 in its locked state relative to clamp 218, e.g., via an interference fit, as shown in FIG. 7E. Accordingly, switch 724 may transition from its locked state towards its unlocked state upon application of force, e.g., via handle portion 728, sufficient to disengage stop 743 from groove 727. In addition, when switch 724 is in its locked state relative to clamp 218 and a surgical instrument is disposed within opening 716, the surgical instrument may apply an upward force against locking portion 720 of clamp 718, which in turn applies an upward force to engagement portion 726 of switch 724, which may cause switch 724 to move upward relative to surgical instrument connection portion 702, as described above. As a result, engagement portion 726 applies a downward force against locking portion 720, thereby causing friction pad 721 to provide the desired friction force to the surgical instrument.

[0082] Referring now to FIG. 7F, an alternative exemplary coupler body for coupling a surgical instrument, e.g., having a shaft diameter of about 10 mm, to the distal end of robot arm 300, e.g., via coupled interface 400, is provided. Coupler body 700' may be constructed similar to coupler body 700, with similar components having like-prime reference numerals. For example, surgical instrument connection portion 702' having tapered portions 714', coupler interface connection portion 704' including locking arms 706' having handle portion 710', opening 716', clamp 718' configured to rotate about axis 712' and including handle 722' and locking portion 720' having friction pad 721', switch 724' having engagement portion 726' and handle portion 728', and holder 730' having friction pad 732' correspond with surgical instrument connection portion 702 having tapered portions 714, coupler interface connection portion 704, locking arms 706 having handle portion 710, opening 716, clamp 718 configured to rotate about axis 712 and including handle 722 and locking portion 720 having friction pad 721, switch 724 having engagement portion 726 and handle portion 728, and holder 730 having friction pad 732. Coupler body 700' differs from coupler body 700 in that opening 716', defined at least partially by friction pad 721' of locking portion 720' of clamp 718' and friction pad 732' of holder 730',713392135v1 31225887-091001 may be sized and shaped for receiving a surgical instrument having a shaft diameter of about 10 mm.

[0083] FIG. 8 illustrates releasable coupling of a surgical instrument having an elongated shaft with coupler body 700. As shown in FIG. 8, the elongated shaft of surgical instrument 10 may be inserted toward opening 716 of coupler body 700, e.g., by sliding along tapered portions 714, such that the shaft contacts the tapered upper surface of locking portion 720 of clamp 718. The downward force applied to locking portion 720 by surgical instrument 10 may cause clamp 718 to pivot about axis 712 and transition from its closed state to its open state, thereby providing access to opening 716. Additionally, or alternatively, clamp 718 may be manually actuated to transition to its open state by the user via handle 722. As clamp 718 is biased towards its closed state, when surgical instrument 10 clears locking portion 720 and is disposed within opening 716, clamp 718 may return to its closed state. Moreover, holder 730 may move downward due to the downward force applied thereto by surgical instrument 10 and locking portion 720 to thereby enlarge opening 716 to accommodate surgical instrument 10 therein. When surgical instrument 10 is disposed within opening 716 and clamp 718 is in its closed state, holder 730 may apply an upward force to surgical instrument 10 via friction pad 732, while locking portion 720 may apply a downward force to surgical instrument 10 via friction pad 721.

[0084] Next, to secure surgical instrument 10 within opening 716 of coupler body 700 such that rotation of surgical instrument 10 is permitted while transitional movement of surgical instrument 10 is prevented, switch 724 may be actuated via handle 728 to engage engagement portion 726 of switch 724 with locking portion 720 of clamp 718. As described above, ramped portion 750 of engagement portion 726 first engages with ramped portion 744 of channel 742 of locking portion 720 and slides along ramped portion 744 within channel 742 until flat portion 752 of engagement portion 726 engages with flat portion 746 of channel 742. Due to the height of flat portion 750 of engagement portion 726, engagement of flat portion 750 with flat portion 746 of channel 742 of locking portion 720 may cause switch 718 to move upward relative to opening 716 and clamp 718 to move downward towards opening 716. Specifically, engagement of switch 724 and clamp 718 causes engagement portion 726 of switch 724 to apply a downward force to locking portion 720 of clamp 718, such that locking portion 720 applies a downward force to surgical instrument 10 via friction pad 721 that, in combination with the upward force713392135v1 32225887-091001 applied to surgical instrument 10 via friction pad 732, is sufficient to permit rotational movement of surgical instrument relative to coupler body 700 while longitudinal / translation movement of surgical instrument 10 relative to coupler body 700 is prevented. Accordingly, when the surgical instrument is disposed within opening 716, switch 724 may be actuated to its unlocked state to permit the user to readjust / move the surgical instrument longitudinally relative to coupler body 700 within opening 716, and back to its locked state to cause clamp 718 to prevent longitudinal movement of the surgical instrument relative to coupler body 700. To remove surgical instrument 10 from coupler body 700, switch 724 must first be actuated to its unlocked state, followed by actuation of clamp 718 to its open state via handle 722.

[0085] Referring now to FIGS. 9 A to 9C, an exemplary coupler body adapter for coupling various surgical instruments is provided. Adapter 800 may removably coupled to any of the coupler bodies described herein to thereby couple a surgical instrument, preferably a surgical instrument without a long and thin shaft, to the distal end of the robot arm. As shown in FIG. 9A, adapter 800 may include coupler body coupling portion 802 configured to be removably coupled to the coupler body, and attachment portion 804 configured to be coupled to surgical instrument attachment portion 820. As shown in FIG. 9A, coupler body coupling portion 802 may include shaft portion 808 having a cylindrical shape corresponding to the shape of an elongated shaft of a surgical instrument. For example, shaft portion 808 may have a diameter that corresponds with the coupler body that adapter 800 is to be used with, e.g., 10 mm for use with coupler body 500 or between 4.5 to 5.5 mm for use with coupler body 700. Moreover, coupler body coupling portion 802 includes opening 808 extending through coupler body coupling portion 802 and sized and shaped to permit the locking portion of the respective coupler body to pass therethrough. Accordingly, shaft portion 808 permits adapter 800 to be removably coupled to the coupler body in the same manner as the elongated shaft of a surgical instrument.

[0086] Attachment portion 804 may have a tapered geometry that corresponds with the tapered geometry of the upper surface of the coupler body, e.g., tapered portions 514 of coupler body 500 or tapered portions 714 of coupler body 700, to thereby provide a secure fit when adapter 800 is coupled to the coupler body, as shown in FIG. 9B. Moreover, attachment portion 804 may include first mating feature 810 having a geometry that corresponds with the geometry of second mating feature 824 of surgical instrument attachment portion 820, such that attachment713392135v1 33225887-091001 portion 804 may be removably coupled to surgical instrument attachment portion 820 via releasable engagement of first mating feature 810 and second mating feature 824. Alternatively, attachment portion 804 may be formed integrally with surgical instrument attachment portion 820.

[0087] As shown in FIG. 9A, surgical instrument attachment portion 820 may include lower portion 822 having second mating feature 824, and upper portion 826 configured to be removably coupled to lower portion 822, e.g., via fasteners 828. Opening 830 may be formed between lower portion 822 and upper portion 826 when lower portion 822 and upper portion 826 are coupled together. As will be understood by a person having ordinary skill in the art, surgical instrument attachment portion 820 may include more or less than four fasteners as shown in FIG. 9A. In some embodiments, rather than having two sets of fasteners, e.g., on opposite sides of opening 830, surgical instrument attachment portion 820 may include one or more fasteners on one side of opening 830 and, e.g., a hinge, on the opposite side of opening 830. Moreover, surgical instrument attachment portion 820 may include instrument block 832 sized and shaped to be disposed within opening 830 and configured to further define the size and shape of opening 830, such that opening 830 may securely receive a surgical instrument therein, e.g., surgical instrument 12, as shown in FIG. 9C. Accordingly, instrument block 832 may have a geometry that corresponds with the specific type of surgical instrument to be coupled to the distal end of the robot arm via the coupler body and adapter 800. In some embodiments, instrument block 832 may be selected from a plurality of interchangeable instrument blocks, each having a unique geometry corresponding to the surgical instrument to be coupled.

[0088] Referring again to FIG. 9A, instrument block 832 may include a plurality of receptacles 834 configured for receiving / coupling with instrument fasteners 836 for securing another surgical instrument, e.g., surgical instrument 14, as shown in FIG. 9D. For example, upper portion 826 may be decoupled and removed from lower portion 822 of surgical instrument attachment portion 820, the handle portion of surgical instrument 14 may be inserted into opening 830 defined by instrument block 832, and instrument fasteners 836 be coupled to instrument block 832 via receptacles 834 to secure the handle portion of surgical instrument 14 to adapter 800, which may be removably coupled to coupler body 700, as described above. Instrument fasteners 836 may be used to secure a surgical instrument to adapter 800 when713392135v1 34225887-091001 rotation of the surgical instrument relative to adapter 800, and accordingly, the coupler body, is not desired as instrument fasteners 836 may prevent rotation of the surgical instrument.

[0089] Advantageously, adapter 800 may permit coupling of an endless number of different types of surgical instruments and / or tools to robot arms 300 for use with co-manipulation surgical system 100 to perform various surgical procedures including procedures that do not require cannulation / insertion of the surgical instrument through a trocar port. For example, adapter 800 may be used to couple a uterine manipulator to robot arm 300 for performing gynecological procedures such as a hysterectomy, which typically requires additional scrub nurses to hold and maneuver the manipulator. As another example, adapter 800 may be used to couple a suction and irrigation probe during a procedure while benefitting from the use of the comanipulation surgical system’s computer vision capabilities, as described in PCT Patent Appl. No. PCT / IB2024 / 050175, e.g., to detect location of blood during the procedure and / or guide the suction tip of the probe towards the blood. Moreover, if a surgeon needs to switch from laparoscopic surgery to open surgery, adapter 800 may be used to couple a metal scoop, e.g., a Deaver retractor, to robot arm 300, which may hold the metal scoop in passive mode for the duration of the open surgery.

[0090] Additionally, adapter 800 may be used to couple non-surgical devices to robot arm 300 to benefit from the co-manipulation surgical system’s capabilities. For example, adapter 800 may be used to couple a camera, e.g., a 3D camera, to record a surgical procedure with optimal visibility of the surgical site, which may be used for peer-to-peer training for complicated surgical procedures. As another example, adapter 800 may be used to couple a mayo stand / surgical tray to robot arm 300 to hold sterile surgical instruments in an optimal position relative to the surgeon for ease of access during a surgical procedure, and / or a mobile phone to permit the surgeon to make phone calls without interrupting the surgical workflow.

[0091] While various illustrative embodiments of the invention are described above, it will be apparent to one skilled in the art that various changes and modifications may be made therein without departing from the invention. The appended claims are intended to cover all such changes and modifications that fall within the true scope of the invention.713392135v1 35

Claims

225887-091001WHAT IS CLAIMED:

1. A coupler device for removably coupling a surgical instrument having an elongated shaft to a distal end of a robot arm of a co-manipulation surgical system to assist with surgery performed using the surgical instrument, the distal end of the robot arm comprising a coupler interface, the coupler device comprising: a coupler body configured to be removably coupled to the coupler interface and to the elongated shaft of the surgical instrument, the coupler body comprising a lumen sized and shaped to receive the elongated shaft therein; a clamp configured to transition between an open state and a closed state, the clamp comprising a locking portion configured to engage with the elongated shaft of the surgical instrument when the elongated shaft is disposed within the lumen and the clamp is in the closed state; and a switch configured to be actuated to transition between an unlocked state and a locked state, the switch comprising an engagement portion configured to engage with the locking portion of the clamp when the clamp is in the closed state and the switch is in the locked state to thereby secure the elongated shaft within the lumen of the coupler body, wherein, when the coupler body is coupled to the coupler interface and the elongated shaft is secured within the lumen of the coupler body, the robot arm is configured to be freely moveable responsive to movement at the handle of the surgical instrument for performing surgery.

2. The coupler device of claim 1, wherein the locking portion of the clamp comprises a channel sized and shaped to receive the engagement portion of the switch in the locked state to thereby secure the elongated shaft within the lumen of the coupler body.

3. The coupler device of claim 2, wherein the channel comprises a first ramped portion and a first flat portion, wherein the engagement portion of the switch comprises a second ramped portion and a second flat portion, and wherein, as the switch transitions from the unlocked state to the locked state, the second ramped portion first engages with the first ramped portion to facilitate engagement of the second flat portion with the first flat portion in the closed state. 3392135v1 36225887-0910014. The coupler device of claim 3, wherein the locking portion of the clamp comprises a tooth extending upwardly from a lateral edge of the locking portion, the tooth defining the channel of the locking portion.

5. The coupler device of claim 4, wherein the second ramped portion and the second flat portion of the engagement portion of the switch forms a lip sized and shaped to be received within the channel defined by the tooth.

6. The coupler device of claim 2, wherein the engagement portion comprises a groove and the channel comprises a stop sized and shaped to be received within the groove, such that, when the clamp is in the closed state and the switch is in the locked state, the stop is received within the groove to thereby maintain the switch in the locked state.

7. The coupler device of claim 1, wherein, when the clamp is in the closed state and the switch is in the locked state, the engagement portion of the switch applies a downward force to the locking portion of the clamp to cause the locking portion to apply a downward force to the elongated shaft of the surgical instrument to thereby secure the elongated shaft within the lumen of the coupler body.

8. The coupler device of claim 7, wherein the downward force applied to the locking portion of the clamp by the engagement portion of the switch causes the clamp to move downward relative to the coupler body.

9. The coupler device of claim 7, wherein an upward force applied to the engagement portion of the switch by the locking portion of the clamp when the elongated shaft is disposed within the lumen of the coupler body causes the switch to move upward relative to the coupler body.

10. The coupler device of claim 1, wherein the clamp comprises a handle configured to be actuated to transition the clamp from the closed state to the open state. 3392135v1 37225887-09100111. The coupler device of claim 1, wherein the clamp is pivotally coupled to the coupler body to transition between the open state and the closed state.

12. The coupler device of claim 11, wherein an axis of rotation of the clamp about the coupler body is moveable along an axis perpendicular to the axis of rotation within the coupler body.

13. The coupler device of claim 11, wherein the clamp is pivotally coupled to the coupler body via a torsion spring, the torsion spring configured to bias the clamp in the closed state.

14. The coupler device of claim 1, wherein, when the coupler body is coupled to the coupler interface, the coupler body is configured to rotate relative to the distal end of the robot arm via the coupler interface to self-align the lumen of the coupler body with the elongated shaft as the elongated shaft is inserted into the lumen.

15. The coupler device of claim 14, wherein the coupler body comprises at least one tapered surface configured to guide the elongated shaft into the lumen to facilitate self-alignment of the lumen of the coupler body with the elongated shaft as the elongated shaft is inserted along the at least one tapered surface into the lumen and the coupler body rotates relative to the distal end of the robot arm.

16. The coupler device of claim 1, wherein an upper surface of the locking portion of the clamp comprises a tapered surface configured to guide the elongated shaft into the lumen and to facilitate transitioning of the clamp from the closed state to the open state responsive to a force applied to the tapered surface by the elongated shaft as the elongated shaft is inserted into the lumen.

17. The coupler device of claim 1, wherein the coupler body comprises a groove configured to receive a protrusion of the coupler interface, and wherein engagement between the 3392135v1 38225887-091001 protrusion and the groove prevents rotational movement of the coupler body relative to the coupler interface.

18. The coupler device of claim 1, further comprising: a holder slidably disposed within the coupler body, the holder comprising a lower friction pad configured to define at least a portion of the lumen of the coupler body, wherein the holder is configured to be biased in a direction toward the lumen such that, when the elongated shaft is disposed within the lumen, the lower friction pad is configured to engage with the elongated shaft.

19. The coupler device of claim 18, wherein a lower surface of the locking portion of the clamp comprises an upper friction pad configured to define at least a portion of the lumen of the coupler body, the upper friction pad configured to engage with the elongated shaft in the closed state.

20. The coupler device of claim 19, wherein, when the elongated shaft is disposed within the lumen and the clamp is in the closed state and the switch is in the locked state, the upper and lower friction pads are configured to permit rotational movement of the surgical instrument relative to the coupler body while preventing transitional movement of the surgical instrument relative to the coupler body.

21. The coupler device of claim 1, further comprising an adapter configured to be removeably coupled to the coupler body and to a portion of a second surgical instrument, the adapter comprising an opening sized and shaped to receive the portion of the second surgical instrument therein.

22. The coupler device of claim 21, wherein the adapter comprises a coupler body coupling portion configured to be removably coupled to the coupler body, the coupler body coupling portion comprising: a shaft portion sized and shaped to be disposed within the lumen of the coupler body; and 3392135v1 39225887-091001 an opening sized and shaped to receive the locking portion of the clamp therethrough, the opening at least partially defining a geometry of the shaft portion.

23. The coupler device of claim 22, wherein the geometry of the shaft portion corresponds with a geometry of the elongated shaft of the surgical instrument.

24. The coupler device of claim 22, wherein the adapter comprises a surgical instrument attachment portion configured to be removably coupled to the portion of the second surgical instrument, the surgical instrument attachment portion comprising the opening sized and shaped to receive the portion of the second surgical instrument therein.

25. The coupler device of claim 24, wherein the surgical instrument attachment portion is configured to be removeably coupled to the coupler body coupling portion.

26. The coupler device of claim 24, wherein the surgical instrument attachment portion is integrally formed with the coupler body coupling portion.

27. The coupler device of claim 24, wherein the surgical instrument attachment portion comprises a lower portion comprising an instrument block configured to define a geometry of the lumen of the surgical instrument attachment portion.

28. The coupler device of claim 27, wherein the surgical instrument attachment portion comprises an upper portion configured to transition between an open configuration where the portion of the second surgical instrument may be inserted within the lumen of the surgical instrument attachment portion and a closed configuration where the portion of the second surgical instrument is secured within the lumen of the surgical instrument attachment portion.

29. The coupler device of claim 28, wherein the upper portion is configured to be releasably coupled to the lower portion via at least one fastener to transition the upper portion between the open configuration and the closed configuration. 3392135v1 40225887-09100130. The coupler device of claim 27, wherein the instrument block comprises a plurality of receptacles configured to releasably engage at least one instrument fastener, the at least one instrument fastener configured to secure the portion of the second surgical instrument within the lumen of the surgical instrument attachment portion such that rotational movement of the second surgical instrument relative to the adapter is prevented.

31. The coupler device of claim 21, wherein the second surgical instrument comprises at least one of a uterine manipulator, a suction and irrigation probes, or a metal scoop. 3392135v1 41

Images