Surgical robotic toolbox

Abstract

A robotic surgical system includes a robotic actuator and a set of surgical tools. Each of the surgical tools is configured to be separately and removably coupled to the robotic actuator. The robotic surgical system also includes a toolbox configured to store the surgical tools. The toolbox includes a shaft configured to rotate about a shaft axis, and a tool holder body configured to be releasably coupled to the shaft.

Description

A0012685W001SURGICAL ROBOTIC TOOLBOXCROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 683,918, filed 16 August 2024, the entire content of which is incorporated herein by reference.FIELD

[0002] The present technology is generally related to robotic surgery, and to robotic systems that implement the use of a robotic actuator and a set of tools during a robotic surgery.BACKGROUND

[0003] Robotic actuators (e.g., robotic arms) are commonly used in robotic surgeries, often replacing or supplementing a human surgeon’ s arm or hand. During a robotic surgery, the robotic actuator commonly positions and / or uses a tool, or set of tools, to facilitate the surgery.SUMMARY

[0004] The techniques of this disclosure generally relate to robotic systems which use a robotic actuator (e.g., robotic arm), a set of tools, and a toolbox to hold the tools. The system manages the location of the tools, and maintains the sterility of each of the robotic actuator, the tools, and the toolbox throughout the surgical procedure.

[0005] In one aspect, the disclosure provides a robotic surgical system having a robotic actuator, and a set of surgical tools. Each of the surgical tools is configured to be separately and removably coupled to the robotic actuator. The robotic surgical system also includes a toolbox configured to store the surgical tools. The toolbox includes a shaft configured to rotate about a shaft axis, and a tool holder body configured to be releasably coupled to the shaft.

[0006] In another aspect, the disclosure provides a robotic surgical system having a surgical robotic arm having a distal end, and a controller configured to control movement of the distal endA0012685W001 of the surgical robotic arm. The robotic surgical system also includes a toolbox configured to store surgical tools. The toolbox includes a rotatable shaft and a tool holder body configured to be picked up by the distal end of the robotic arm and releasably coupled to the rotatable shaft. The controller is configured to store memory of a positioning of the tool holder body relative to the rotatable shaft.

[0007] In another aspect, the disclosure provides a method for controlling a robotic surgical system. The method includes rotating a rotatable shaft of a toolbox including a set of surgical tools about a shaft axis, using an electronic controller. Each surgical tool of the set of surgical tools is releasably coupled to the rotatable shaft. The method also includes moving, using the electronic controller, a robotic actuator relative to the toolbox and removing, using the robotic actuator, a first one of the set of surgical tools from the rotatable shaft. The first one of the surgical tools is releasably coupled to the robotic actuator. The method also includes returning, using the robotic actuator, the first one of the set of surgical tools to the rotatable shaft.

[0008] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The accompanying drawings are incorporated into and form a part of the specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the disclosure. The drawings simply illustrate preferred and alternative examples of how the disclosure can be made and used and are not to be construed as limiting the disclosure to only the illustrated and described examples. Further features and advantages will become apparent from the following, more detailed, description of the various aspects, embodiments, and configurations of the disclosure, as illustrated by the drawings referenced below.

[0010] FIG. 1 is a perspective view of a robotic surgical system according to one example.A0012685W001

[0011] FIG. 2 is a perspective view of the robotic surgical system, illustrating a first assembly operation for assembling a toolbox.

[0012] FIG. 3 is a perspective view of the robotic surgical system, illustrating a second assembly operation for assembling the toolbox.

[0013] FIG. 4 is a perspective view of the robotic surgical system, illustrating a third assembly operation for assembling the toolbox.

[0014] FIG. 5 is a perspective view of the robotic surgical system, illustrating a fourth assembly operation for assembling the toolbox.

[0015] FIG. 6 is a perspective view of the robotic surgical system, illustrating a fifth assembly operation for selecting a surgical tool.

[0016] FIG. 7 is a perspective view of the robotic surgical system, illustrating a sixth assembly operation for coupling the surgical tool to the toolbox.

[0017] FIG. 8 is a perspective view of a portion of the robotic surgical system, illustrating a rotation of the toolbox.

[0018] FIG. 9 is a block diagram of a control system for controlling the robotic surgical system.

[0019] FIG. 10 is a flow chart of a method for controlling the robotic surgical system to manipulate the surgical tool.

[0020] Skilled artisans will appreciate that elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of examples, aspects, and features illustrated.

[0021] In some instances, the apparatus and method components have been represented where appropriate by conventional symbols in the drawings, showing only those specific details that are pertinent to understanding the of various implementations, examples, aspects, andA0012685W001 features so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.DETAILED DESCRIPTION

[0022] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example or embodiment, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, and / or may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the disclosed techniques according to different embodiments of the present disclosure). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the techniques of this disclosure may be performed by a combination of units or modules associated with, for example, a computing device and / or a medical device.

[0023] Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Further, the present disclosure may use examples to illustrate one or more aspects thereof. Unless explicitly stated otherwise, the use or listing of one or more examples (which may be denoted by “for example,” “by way of example,” “e.g.,” “such as,” or similar language) is not intended to and does not limit the scope of the present disclosure.

[0024] FIGS. 1-10 illustrate a robotic surgical system 10. The robotic surgical system 10 may be used to conduct one or more surgical procedures on a patient, or portions of one or more surgical procedures on a patient, or to aid in conducting one or more surgical procedures or portions of one or more surgical procedures. The robotic surgical system 10 may be an autonomous, automatic, and / or semi-automatic system that uses one or more surgical tools during a surgicalA0012685W001 procedure, and also stores one or more surgical tools, while maintaining sterility of the tools and other components of the robotic surgical system 10.

[0025] With reference to FIG. 1, in some examples the robotic surgical system 10 includes a frame 14. The frame 14 may be fixed, for example, to a floor (not shown), or instead may be movable (e.g., may include wheels, casters, or other structures that facilitate movement of the frame 14 from one location in a surgical environment to a different location in the surgical environment). In the illustrated example, the frame 14 includes a first vertical support structure 18 (e.g., pillar), a second vertical support structure 22 (e.g., pillar), and an upper support structure 26 (e.g., beam) that extends horizontally between the first vertical support structure 18 and the second vertical support structure 22. Other examples of the robotic surgical system 10 include a frame 14 having other numbers and arrangements of components than that illustrated (e.g., different numbers or arrangements of vertical support structures and / or horizontal support structures). In yet other examples, the robotic surgical system 10 does not include a frame 14.

[0026] With continued reference to FIG. 1 , the robotic surgical system 10 includes a robotic actuator 30. The robotic actuator 30 may be sterile (e.g., sterilized prior to use). In the illustrated example, the robotic actuator 30 is a robotic arm having a proximal end 34 coupled (e.g., fixed) to the frame 14 (e.g., to the first vertical support structure 18), and a distal end 38 located opposite the proximal end 34. The distal end 38 is a free end, and is movable relative to the proximal end 34 and also relative to the frame 14. In other examples, the robotic actuator 30 is coupled to a different portion of the frame 14 (e.g., to the upper support structure 26, or the second vertical support structure 22). In yet other examples, the robotic surgical system 10 includes more than one robotic actuator 30 (e.g., two robotic actuators 30, or three robotic actuators 30), that are each coupled to the frame 14. In yet other examples (e.g., where the frame 14 is not provided), the surgical robotic system 10 includes a robotic actuator 30 that is located remotely by itself, without being coupled to a separate frame 14. Additionally, while the robotic actuator 30 is illustrated in the form of a robotic arm, the robotic actuator 30 may have other shapes and sizes than that illustrated.

[0027] With continued reference to FIG. 1, the robotic surgical system 10 includes a controller 42 coupled to the robotic actuator 30, to control movement of the robotic actuator 30.A0012685W001The controller 42 may be positioned partially or entirely on or within the robotic actuator 30, or on or within the frame 14. In other examples, the controller 42 is positioned remotely from the robotic actuator 30 and / or the frame 14. The controller 42 may communicate through a wired connection to the robotic actuator 30, or may instead communicate wirelessly with the robotic actuator 30.

[0028] During use, the controller 42 may send a signal to the robotic actuator 30 to flex, and / or to position and orient the distal end 38 at a plurality of different spatial locations relative to the proximal end 34. In some examples, the robotic actuator 30 includes two or more different segments that are connected via one or more joints, to permit the robotic actuator 30 to bend, twist, or otherwise deform via commands from the controller 42, and to position and orient the distal end 38 in a desired manner. The robotic actuator 30 may also include one or more motors that receive the signal from the controller 42, and are activated to cause the bending, twisting, or other forms of deformation. The robotic actuator 30 may have other shapes, sizes, and / or numbers of segments and joints than that illustrated.

[0029] With continued reference to FIG. 1, the robotic surgical system 10 also includes a set of surgical tools 46. Each of the surgical tools in the set of surgical tools 46 may be sterile (e.g., sterilized prior to use). In the illustrated example, the set of surgical tools 46 includes a first surgical tool 46a, a second surgical tool 46b, a third surgical tool 46c, a fourth surgical tool 46d, a fifth surgical tool 46e, a sixth surgical tool 46f, a seventh surgical tool 46g, an eighth surgical tool 46h, a ninth surgical tool 46i, and a tenth surgical tool 46j (not visible in FIG. 1 but visible in FIG. 8). Other examples include different numbers of surgical tools than that illustrated. For example, the set of surgical tools 46 may include only a single surgical tool (e.g., only the surgical tool 46a), or may include more than ten surgical tools (e.g., eleven surgical tools, or twelve surgical tools, or up to twenty surgical tools, etc.).

[0030] In some examples, at least one of the surgical tools in the set of surgical tools 46 is different than another one of the surgical tools. For example, the first surgical tool 46a may be different than the second surgical tool 46b. The first surgical tool 46a may be a surgical drill, whereas the second surgical tool 46b may be a surgical clamp. In other examples, the first surgical tool 46a may be similar or identical in type to the second surgical tool 46b. Other examples include different types of surgical tools. Additionally, each of the surgical tools illustrated in the set ofA0012685W001 surgical tools 46 is illustrated generically, or schematically, in FIG. 1. Accordingly, it is understood that some of the surgical tools in the set of surgical tools 46 seen in FIG. 1 may have a different size and / or shape than other surgical tools in the set of surgical tools 46.

[0031] With continued reference to FIG. 1, each of the surgical tools in the set of surgical tools 46 is configured to be separately and removably coupled to the robotic actuator 30. In the illustrated example, the distal end 38 of the robotic actuator 30 includes a robotic actuator engagement structure 50, and each of the surgical tools includes a surgical tool engagement structure 54. The surgical tool engagement structures 54 are configured to engage and disengage from the robotic actuator engagement structure 50, to selectively permit each of the surgical tools to be releasably coupled to the robotic actuator 30. While the robotic actuator engagement structure 50 is illustrated as being located at the distal end 38 of the robotic actuator 30, in other examples the robotic actuator engagement structure 50 may be located at a different position along the robotic actuator 30 (e.g., at a midpoint along the robotic actuator 30, or closer to the proximal end 34 of the robotic actuator 30).

[0032] In some examples, the robotic actuator engagement structure 50 is an electromechanical structure (e.g., lock) that releasably locks each of the surgical tools in place on the distal end 38 of the robotic actuator 30. In the illustrated example, the robotic actuator engagement structure 50 is a round disk located at the distal end 38 of the robotic actuator 30. Each of the surgical tool engagement structures 54 is similarly a round disk (e.g., the same size and shape as the disk forming the surgical tool engagement structure 54), located along a side surface of the surgical tool.

[0033] To couple one of the surgical tools to the robotic actuator 30, the controller 42 may magnetize the robotic actuator engagement structure 50 (e.g., send a signal to the robotic actuator 30 causing conductive coils to be activated to generate a magnetic field at the actuator engagement structure 50). The round disks forming the surgical tool engagement structures 54 may be formed at least in part by a ferromagnetic material, such that when the distal end 38 of the robotic actuator 30 is moved close to a surgical tool (e.g., the first surgical tool 46a), the surgical tool is attracted to the robotic actuator engagement structure 50, and is thereby releasably locked to the robotic actuator 30.A0012685W001

[0034] Various other types of structures (including electromechanical structures) may be used instead to releasably lock each of the surgical tools in place on the distal end 38 of the robotic actuator 30. For example, the robotic actuator engagement structure 50 may include a solenoid, and the surgical tool engagement structure 54 may include a structure (e.g., recess or channel) that receives a moving core portion of the solenoid when the solenoid is activated (or de-activated) by the controller 42, to releasably lock or unlock the surgical tools in place on the robotic actuator 30.

[0035] In yet other examples, the robotic actuator engagement structure 50 may couple to one or more of the surgical tool engagement structures 54 in a purely mechanical manner. For example, the robotic actuator engagement structure 50 may include a protrusion, recess, external thread, internal thread, detent, or other mechanical structure that releasably couples (e.g., via a friction fit, detent fit, bayonet-type lock fit, threaded engagement fit, etc.) to a corresponding structure or feature of the surgical tool engagement structure 54, to releasably couple the surgical tool to the robotic actuator 30.

[0036] With continued reference to FIG. 1, the robotic surgical system 10 may include a toolbox 58 configured to store one or more surgical tools from the set surgical tools 46. In the illustrated example, the toolbox 58 includes a tool positioning mechanism, in the form of a shaft 62 (e.g., cylindrical in shape) that rotates about a shaft axis 66. The shaft 62 is coupled to the upper support structure 26 of the frame 14, and extends below the upper support structure 26. The shaft axis 66 extends through the shaft 62, and extends perpendicular the upper support structure 26 (e.g., along a vertical direction).

[0037] With reference to FIG. 2, the shaft 62 includes a proximal end 70 coupled to the upper support structure 26, and a distal end 74 located opposite the proximate end 70. The distal end 74 is a free end. In some examples, the proximal end 70 of the shaft 62 is coupled (e.g., fixed) to a component (e.g., motor or other device, not illustrated) on the frame 14 that generates a rotation of the shaft 62.

[0038] With continued reference to FIG. 2, in some examples the robotic surgical system 10 also includes a drape 78 (e.g., flexible covering) that covers a portion of the shaft 62, to provide added sterility and / or protection to the shaft 62. In the illustrated example, the drape 78 covers all but the distal end 74 of the shaft 62. Accordingly, the distal end 74 of the shaft 62 remains exposedA0012685W001 outside of the drape 78. In some examples, the distal end 74 is itself sterile (e.g., sterilized prior to use).

[0039] With reference to FIG. 1, the shaft 62 is coupled (e.g., via a wired connection or wirelessly) to the controller 42 (or to a separate controller). The controller 42 may control the overall movement (e.g., rotation) of the shaft 62 about the shaft axis 66. In other examples, the shaft 62 has other shapes and sizes than that illustrated, and / or may rotate about other axes or numbers of axes. For example, the shaft 62 may rotate about an axis that is horizontal, or oblique relative to the illustrated shaft axis 66, or may rotate about two or more axes, instead of just the single shaft axis 66.

[0040] With reference to FIGS. 2-6, in some examples the robotic surgical system 10 includes at least one tool holder body configured to be releasably coupled to the shaft 62. Each tool holder body may be releasably coupled to at least one of the surgical tools in the set of surgical tools 46, and may be configured to be releasably coupled to the robotic actuator 30. Each of the tool holder bodies may be sterile (e.g., sterilized prior to use).

[0041] In the illustrated example, the robotic surgical system 10 includes a first (e.g., sterile plate) tool holder body 82 (FIGS. 2-6) and a second (e.g., sterile plate) tool holder body 86 (FIGS. 5 and 6). Each of the first tool holder body 82 and the second tool holder body 86 may be sterile, and may be removable for autoclave sterilization. Each of the first tool holder body 82 and the second tool holder body 86 is sized and shaped to engage a portion of the shaft 62 (e.g., has a complementary shape to that of the shaft 62). In the illustrated example, the first tool holder body 82 is configured to be coupled to a first side of the shaft 62, and the second tool holder body 86 is configured to be coupled to a second, opposite side of the shaft 62. The first tool holder body 82 has a similar (or identical) shape to that of the second tool holder body 86, although in other examples the first tool holder body 82 is larger or smaller than the second tool holder body 86, and / or has a different shape than the second tool holder body 86. Additionally, in other examples the robotic surgical system 10 includes only a single tool holder body (e.g., the first tool holder body 82), or includes more than two tool holder bodies (e.g., three tool holder bodies, or four tool holder bodies).A0012685W001

[0042] With continued reference to FIGS. 2-6, each of the first tool holder body 82 and the second tool holder body 86 is sized and shaped to engage and couple to the distal end 74 of the shaft 62. In the illustrated example, each of the first tool body 82 and the second tool body 86 includes an inner surface 90 (FIG. 2) having a concave shape that is complementary to the convex shape of the outer surface of the shaft 62. In other examples, the inner surface 90 may have a different shape than that illustrated.

[0043] The distal end 74 of the shaft 62 may include, or define, a shaft engagement structure, and the inner surface 90 of the first tool holder body 82 (and similarly the second tool holder body 86) may define a first tool holder engagement structure. The shaft engagement structure and the first tool holder engagement structure may be similar to the robotic actuator engagement structure 50 and the surgical tool engagement structure 54 described above. For example, the controller 42 may magnetize the shaft engagement structure (e.g., the distal end 74 of the shaft 62), which may then attract the first tool holder engagement structure (e.g., the material forming the inner surface 90). Alternatively, various other types of structures (including electromechanical structures) may be used instead to releasably lock the first tool holder 82 and the second tool holder 86 in place on the distal end 74 of the shaft 62. For example, the distal end 74 of the shaft 62 may include a solenoid, and the first tool holder body 82 or second tool holder body 86 may include a structure (e.g., a recess or channel) that receives a moving core portion of the solenoid when the solenoid is activated (or de-activated) by the controller 42, to lock or unlock the first and second tool holder bodies 82, 86 in place on the distal end 74 of the shaft 62.

[0044] In yet other examples, the first and second tool holder bodies 82, 86 may couple to the distal end 74 of the shaft 62 in a purely mechanical manner. For example, the distal end 74 of the shaft 62 may include a protrusion, recess, external thread, internal thread, detent, or other mechanical structure that releasably couples (e.g., via a friction fit, detent fit, bayonet-type lock fit, threaded engagement fit, etc.) to a corresponding structure or feature on the first tool holder 82 or the second tool holder 86, to releasably couple the first and second tool holders 82, 86 to the shaft 62.

[0045] With continued reference to FIGS. 2-6, each of the first tool holder body 82 and the second tool holder body 86 also includes an outer surface 94 defining one or more faces (e.g.,A0012685W001 planar faces), corresponding to attachment points for one of the surgical tools in the set of surgical tools 46. In the illustrated example, and with reference to FIG. 5, each of the first tool holder body 82 and the second tool holder body 86 includes a first face 98 to engage and couple to a first one of the surgical tools, a second face 102 to engage and couple to a second one of the surgical tools, a third face 106 to engage and couple to a third one of the surgical tools, a fourth face 110 to engage and couple to a fourth one of the surgical tools, and a fifth face 114 to engage and couple to a fifth one of the surgical tools. Other examples include different numbers and arrangements of faces than that illustrated. In some examples, the first tool holder body 82 and / or the second tool holder body 86 does not include separate (e.g., planar) faces, but instead includes for example a continuous convex outer surface with curved regions to receive and / or engage with different surgical tools, or with different protrusions and / or recesses to receive and / or engage with different surgical tools.

[0046] The outer surface 94 of the first tool holder body 82 (and similarly the second tool holder body 86) may define a second tool holder engagement structure that engages with the robotic engagement structure 50 described above, to releasably couple the first tool holder body 82 or the second tool holder body 86 to the robotic actuator 30. The second tool holder engagement structure may be similar to the surgical tool engagement structure 54 described above. Accordingly, in some examples, the controller 42 may magnetize the robotic engagement structure 50, which may then attract the second tool holder engagement structure (e.g., the material forming the outer surface 94, or one of the faces 98, 102, 106, 110, or 114 of the outer surface 94), to releasably lock the first tool holder body 82 (or second tool holder body 86) to the robotic actuator 30.

[0047] Alternatively, various other types of structures (including electromechanical structures) may be used instead to releasably lock the first tool holder body 82 and the second tool holder body 86 in place on robotic actuator 30. For example, the robotic engagement structure 50 may include a solenoid, and the first tool holder body 82 or the second tool holder body 86 may include a structure (e.g., a recess or channel) that receives a moving core portion of the solenoid when the solenoid is activated (or de-activated) by the controller 42, to lock or unlock the first and second tool holder bodies 82, 86 in place on the robotic actuator 30.

[0048] In yet other examples, the first and second tool holder bodies 82, 86 may couple to the robotic actuator 30 in a purely mechanical manner. For example, the robotic engagementA0012685W001 structure 50 may include a protrusion, recess, external thread, internal thread, detent, or other mechanical structure that releasably couples (e.g., via a friction fit, detent fit, bayonet-type lock fit, threaded engagement fit, etc.) to a corresponding structure or feature on the first tool holder body 82 or the second tool holder body 86, to releasably couple the first and second tool holder bodies 82, 86 to the robotic actuator 30.

[0049] Additionally, and as described above, each of the first face 98, the second face 102, the third face 106, the fourth face 110, and the fifth face 114 may receive or otherwise be coupled to a surgical tool. Accordingly, each of the first face 98, the second face 102, the third face 106, the fourth face 110, and the fifth face 114 may include or otherwise define a tool holder engagement structure (identical to or different than the second tool holder engagement structure), that releasably couples to the surgical tool.

[0050] In some examples, each of the surgical tools may include a body having a front side and a rear side. The surgical tool engagement structures 54 (for coupling the surgical tools to the robotic actuator 30) may be positioned on the front sides of the surgical tools. The rear sides of the surgical tools may be configured to engage the tool holder engagement structures on the first face 98, the second face 102, the third face 106, the fourth face 110, and the fifth face 114, to releasably couple (e.g., lock) the surgical tools to the first tool holder body 82 and the second tool holder body 86. For example, the controller 42 may magnetize one or more of the faces 98, 102, 106, etc. or the tool engagement structure 54, such that the surgical tool is attracted to and locks onto the face 98, 102, 106, etc. Alternatively, various other types of structures (including electromechanical structures or purely mechanical structures) may be used instead to releasably couple the surgical tool to the face 98, 102, 106, etc., including solenoids, or protrusions, recesses, external threads, internal threads, detents, etc., similar to the other engagement structures described above.

[0051] In some examples, the controller 42 (or a separate controller) is coupled (e.g., wirelessly) to the first tool holder body 82 and / or the second tool holder body 86. Accordingly, to couple one of the surgical tools to the first tool holder body 82 or the second tool holder body 86, the controller 42 may magnetize the first face 98, the second face 102, the third face 106, the fourth face 110, and / or the fifth face 114 of the first tool holder body 82 or the second tool holder bodyA0012685W00186. The rear sides of the surgical tools may be formed at least in part by a ferromagnetic material, such that surgical tool is attracted to the first face 98, the second face 102, the third face 106, the fourth face 110, and / or the fifth face 114.

[0052] Various other types of structures (including electromechanical structures) may be used instead to releasably lock each of the surgical tools in place on the first tool holder body 82 or the second tool holder body 86. For example, the first tool holder body 82 or the second tool holder body 86 may include a solenoid, and the rear side of the surgical tool may include a structure (e.g., recess or channel) that receives a moving core portion of the solenoid when the solenoid is activated (or de-activated) by the controller 42, to releasably lock or unlock the surgical tool in place on the first tool holder body 82 or the second tool holder body 86.

[0053] In yet other examples, first tool holder body 82 and the second tool holder body 86 may couple to one or more of the surgical tools in a purely mechanical manner. For example, the first face 98, the second face 102, the third face 106, the fourth face 110, and / or the fifth face 114 may include a protrusion, recess, external thread, internal thread, detent, or other mechanical structure that releasably couples (e.g., via a friction fit, detent fit, bayonet-type lock fit, threaded engagement fit, etc.) to a corresponding structure or feature of the rear side, to releasably couple the surgical tool to the first tool holder body 82 or the second tool holder body 86.

[0054] With reference to FIGS. 2-8, the robotic surgical system 10 may be assembled in a series of assembly operations. The surgical system 10 may be assembled, making sure that all equipment that handles the surgical tools is sterile to inhibit or prevent any contamination during the surgical procedure. For example, in the surgical system 10, the robotic actuator 30 and the tools themselves may initially be sterile. The toolbox 58, including each of the first tool holder body 82 and the second tool holder body 86 may also initially be sterile (e.g., having been sterilized in an autoclave). The toolbox 58 may then be draped (e.g., with the drape 78). With reference to FIG. 2, the sterile robotic actuator 30 may pick up the sterile first tool holder body 82 via the robotic actuator engagement structure 50. With reference to FIG. 3, the sterile robotic actuator 30 may then move the sterile first holder body 82 toward the distal end 74 of the draped shaft 62. With reference to FIG. 4, the sterile first tool holder body 82 may then be releasably coupled to the distal end 74 of the draped shaft 62 (e.g., with the surface 90 facing and / or engaging the distal end 74).A0012685W001With reference to FIG. 5, the sterile second tool holder body 86 may then be coupled to an opposite side of the draped shaft 62, at the distal end 74 of the shaft. With reference to FIG. 6, the set of sterile surgical robotic tools 46 may be delivered and / or moved into position near the sterile robotic actuator 30. In the illustrated example, the set of sterile robotic surgical tools 46 are arranged on a table 118. With reference to FIG. 7, the sterile robotic actuator 30 may be used to selectively pick up one of the sterile surgical tools, and move it toward the sterile toolbox 58. The sterile surgical tool may then be releasably coupled to the sterile first tool holder body 82 (or the second tool holder body 86). With reference to FIG. 8, a portion of the sterile toolbox 58 (e.g., the shaft 62) may be rotated, allowing the sterile robotic actuator 30 to releasably couple the remaining sterile surgical tools to the sterile first tool holder body 82 and the sterile second tool holder body 86.

[0055] During a surgical procedure, the sterile robotic actuator 30 may select one of the sterile surgical tools from the toolbox 58, remove the sterile surgical tool, and then return the surgical tool to the toolbox 58. The robotic actuator 30 may also return one (or all) of the surgical tools back to the table 118 after the surgical procedure is complete (e.g., so that the surgical tools may again be sterilized). Once the surgical procedure is complete, the sterile robotic actuator 30 may also selectively remove one or both of the first tool holder body 82 and the second tool holder body 86 from the shaft 62, so that the first and second tool holder bodies 82, 86 may be sterilized again (e.g., in the autoclave).

[0056] With continued reference to FIGS. 2-8, the controller 42 may be configured to monitor and / or identify a relative position of (1) the distal end 38 of the robotic actuator 30 and / or the robotic actuator engagement structure 50; (2) one or more of the surgical tools from the set of surgical tools 46; and / or (3) one or more of the first tool holder body 82 or the second tool holder body 86. In some examples, the robotic surgical system 10 includes one more inertial sensors or other sensors or measurement devices (e.g., located on or within the robotic actuator 30, the surgical tools, and / or the first tool holder body 82 or the second tool holder body 86), that provide information to the controller 42 about the relative position of a component. The controller 42 may store information regarding relative positions of one or more of the components (e.g., the surgical tools and / or the first tool holder body 82 and / or the second tool holder body 86). With this stored information, the robotic actuator 30 may return the surgical tools to the same location on the first tool holder body 82, the second tool holder body 86, and / or the table 118 after use.A0012685W001

[0057] The controller 42 may also, or alternatively, identify one or more of the surgical tools (e.g., through radio frequency identification (RFID) tags, or other devices), and store information regarding the types of surgical tools that are being used in the set of surgical tools 46. With this stored information, the robotic actuator 30 may for example select an appropriate tool from the toolbox 58, verifying the identity of the surgical tool.

[0058] With reference to FIGS. 9-10, and as described above, the robotic surgical system 10 may monitor, identify, and / or manipulate (e.g., move and remove) each surgical tool of the set of surgical tools 46 relative to the toolbox 58 and / or the table 118. FIG. 9 is a block diagram of one example of a control system 150 of the robotic surgical system 10, which includes the controller 42 (e.g., an electronic controller) and the robotic actuator 30. In some examples, the control system 150 controls aspects of the robotic surgical system 10 via the controller 42. The controller 42 may be connected to a power source (not shown). The power source provides operational power to the various components of the robotic surgical system 10 such as, but not limited to, the control system 150, the controller 42, the robotic actuator 30, the shaft 62, and the toolbox 58. In some examples, the power source may provide alternating current (“AC”) power (e.g., 120V / 60Hz) from a plug that is coupled to a standard wall outlet or an external power source, and the control system 150 may then filter, condition, and rectify the received power to output DC power. In other examples, the power source is a battery pack or battery module that is rechargeable and disposed within the robotic surgical system 10. In some instances, the battery pack or battery module provides DC power to the various components of the robotic surgical system 10. The controller 42 may control a level of power / output from the robotic actuator 30 or from the toolbox 58 to manipulate the set of surgical tools 46. In the illustrated example, the controller 42 includes, among other things, an electronic processor 154 (such as a programmable electronic microprocessor, microcontroller, or similar device), a memory 158 (for example, a non -transitory, machine readable medium), and an input / output interface 162. In some instances, the controller 42 also includes a plurality of electrical and electronic components that provide power, operational control, and protection to the components and modules within the controller 42. The electronic processor 154 is communicatively connected to the memory 158, the input / output interface 162, and the power source.A0012685W001

[0059] The input / output interface 162 is communicatively connected to the robotic actuator 30, the shaft 62, the first tool holder body 82, the second tool holder body 86, and other components 168 (e.g., the set of surgical tools 46, the components of the toolbox 58, the one or more inertial sensors, and the various other types of sensors, switches, or combinations thereof). Although the first tool holder body 82 and the second tool holder body 86 are illustrated, the control system 150 may include more or fewer than the number of tool holder bodies shown. In some examples, the one or more inertial sensors sense the relative position of a component (e.g., the surgical tools 46 and / or the shaft 62 and / or the first tool holder body 82 or the second tool holder body 86) and transmit a signal indicative of the relative position of the component to the controller 42 via the input / output interface 162. In some examples, the controller 42 monitors and / or identifies (e.g., determines) the relative position of the component and controls the robotic surgical system 10 based on the relative position sensed by the one or more inertial sensors. In some examples, the controller 42 controls a movement (e.g., moves) the robotic actuator 30 based on the relative position of the component. In some examples, the controller 42 rotates the shaft 62 about the shaft axis 66 based on the relative position of the component. In some examples, the controller 42 magnetizes the robotic actuator engagement structure 50, the shaft engagement structure, a portion of the first tool holder body 82, or the second tool holder body 86 based on the relative position. Additionally, in some examples, the controller 42 controls removal, movement, and replacement of a surgical tool of the set of surgical tools 46 based on the relative position.

[0060] With continued reference to FIG. 9, the electronic processor 154 may obtain and provide information (for example, from the memory 158 and the input / output interface 162) and process the information by executing one or more software instructions or modules capable of being stored, for example, in the memory 158. The software may include firmware, one or more applications, program data, filters, rules, one or more program modules, and other executable instructions. In some instances, the electronic processor 154 executes instructions stored in the memory 158 to perform the methods described herein. The memory 158 may include one or more non-transitory computer-readable media and may include a program storage area and a data storage area. The program storage area and the data storage area may include combinations of different types of memory, for example, read-only memory (“ROM”), random access memory (“RAM”),A0012685W001 electrically erasable programmable read-only memory (“EEPROM”), flash memory, or other suitable digital memory devices.

[0061] In some examples, the memory 158 stores a control algorithm 164. The control algorithm 164 is implemented by the electronic processor 154 to determine the relative position of the component and, among other things, control placement of each surgical tool of the set of surgical tools 46. In some examples, the electronic processor 154, in coordination with software stored in the memory 158 and signals transmitted from the one or more inertial sensors, is configured to implement, among other things, the methods described herein.

[0062] FIG. 10 illustrates an example flow chart of a method 200 for controlling the robotic surgical system 10 to manipulate a surgical tool of the set of surgical tools 46. The method 200 is described as being executed by the components of the control system 150. Additionally, while a particular order is provided, in some examples, the steps of the method 200 may be performed in a different order.

[0063] At step 204, the controller 42 selects a surgical tool of the set of surgical tools 46. For example, during a surgical procedure, the controller 42 selects the first surgical tool 46a from the toolbox 58 based on the surgical procedure. At step 208, the controller 42 identifies the surgical tool of the set of surgical tools 46 based on the selection. For example, the controller 42 identifies the type of the first surgical tool 46a within the set of surgical tools 46 through information transmitted by the RFID tag associated with the first surgical tool 46a. In other examples, the controller 42 accesses stored information in the memory 158 to verify the identity of the first surgical tool 46a. At step 212, the controller 42 determines a relative position of the robotic actuator 30 to the toolbox 58. For example, the controller 42 receives a signal indicative of a position of the robotic actuator 30 from an inertial sensor associated with the robotic actuator 30. The controller 42 also receives a signal indicative of a position of the toolbox 58 from an inertial sensor associated with the toolbox 58. The controller 42 determines the relative position of the robotic actuator 30 to the toolbox 58 based on the signal indicative of the position of the robotic actuator 30 and the signal indicative of the position of the toolbox 58.

[0064] At step 216, the controller 42 determines a relative position of the selected surgical tool on the toolbox 58. For example, the controller 42 receives a signal indicative of a position ofA0012685W001 the first surgical tool 46a from an inertial sensor associated with the first surgical tool 46a. The controller 42 determines the relative position of the first surgical tool 46a based on the signal indicative of position of the first surgical tool 46a. In some examples, the controller 42 determines the relative position of the first surgical tool 46a on either the first tool holder body 82 or the second tool holder body 86. In some examples, the controller 42 determines the relative position of the first surgical tool 46a on the toolbox 58 by accessing stored information in the memory 158. At step 220, the controller 42 rotates the shaft 62 about the shaft axis 66. For example, the controller 42 determines the relative position of the first surgical tool 46a on the toolbox 58 and transmits a signal to control the shaft 62 to rotate to a position such that the first surgical tool 46a is accessible by the robotic actuator 30. At step 224, the controller 42 moves the robotic actuator 30 relative to the toolbox 58. For example, the controller 42 transmits a signal to the robotic actuator 30 to move the robotic actuator 30 to a position relative the toolbox 58 to interact with the first surgical tool 46a.

[0065] At step 228, the controller 42 controls the robotic actuator 30 to remove the selected surgical tool from the toolbox 58. For example, the controller 42 transmits a signal to the robotic actuator 30 to magnetize the robotic actuator engagement structure 50 to pick up the first surgical tool 46a from the first tool holder body 82 or the second tool holder body 86. In some examples, excessive force is exerted on the robotic actuator 30 while removing the selected surgical tool. In such examples, the inertial sensor associated with the robotic actuator 30 transmits a signal indicative of the position of the robotic actuator 30 relative to the first surgical tool 46a. The controller 42 may determine that excessive force is exerted on the robotic actuator 30 based on stored position of the first surgical tool 46a being incorrect (e.g., the stored position of the first surgical tool 46a is incorrect and the robotic actuator 30 pushes on the toolbox 58). In such instances, the controller 42 adjusts the stored position of the first surgical tool 46a such that decreased force is exerted on the robotic actuator 30 when removing the first surgical tool 46a. At step 232, the controller 42 controls the robotic actuator 30 to return the selected surgical tool to the toolbox 58 following the surgical procedure. For example, the controller 42 transmits a signal to the robotic actuator 30 to move the robotic actuator 30 and demagnetize the robotic actuator engagement structure 50 to return the first surgical tool 46a to the same location on the first tool holder body 82 or the second tool holder body 86. As an alternative example of step 232, theA0012685W001 controller 42 may transmit a signal to the robotic actuator 30 to move the robotic actuator 30 and demagnetize the robotic actuator engagement structure 50 to return the first surgical tool 46a to the same location on the table 118 following the surgical procedure. In some examples, the method 200 returns to step 204 to restart the method 200. Although examples described above are directed to the first surgical tool 46a, it should be understood that the method 200 may be performed with any one (or all) of the set of surgical tools 46. For example, the method 200 may restart to manipulate another surgical tool of the set of surgical tools 46.

[0066] During use of the robotic surgical system 10 (e.g., during assembly and / or during a procedure), and as described above, the robotic actuator 30 (e.g., robotic arm) may be grabbing a surgical tool from a specific location in space (e.g., where the surgical tool and its associated surgical tool engagement structure 54 should be). Because the first tool holder body 82 and the second tool holder body 86 are removable from the shaft 62, it may be a challenge to ensure that the assembly and the surgical tool’s position are repeatable, especially if parts of the drape 78 are present on an interface between the distal end 74 of the shaft 62 and the first or second tool holder body 82, 86. Such drape presence in this location may potentially compromise the accuracy of the connection interface between the surgical tool and the first tool holder body 82 or second tool holder body 86.

[0067] Accordingly, and as described above, the distal end 74 of the shaft 62 may include or otherwise define a shaft engagement structure (e.g., electromechanical locking mechanism). The shaft engagement structure may be electromagnetic, purely mechanical, etc. The robotic actuator 30 may be able to reach positions in space with high repeatability (e.g., based on the controller 42 overall, its memory 158, and / or the sensors of the robotic actuator 30 (e.g., inertial sensors)). The sensors may be used to direct the robotic actuator 30 to a specific point in space where the shaft engagement structure at the distal end 74 of the shaft 62 is intended to grab hold of the first tool holder body 82 or the second tool holder body 86. The shaft engagement structure may lock onto the first tool holder body 82 and the second tool holder body 86 while the first tool holder body 82 and the second tool holder body 86 are being held by the robotic actuator 30. The shaft engagement structure may therefore hold the first and second tool holder bodies 82, 86, keeping the position determined by the robotic actuator 30. In this way, the system 10 may use the robotic actuator’s repeatability to maintain the repeatability of the position of the first and second tool holder bodiesA0012685W00182, 86. In some examples, this method allows the assembly to be less accurate, and cancels the need for calibration of the first and second tool holder bodies 82, 86 after assembly. In other words, the surgical system 10 may rely on the robotic actuator’s inherent repeatability to ensure accuracy of positioning and proper attachment and placement of components (e.g., with the locking mechanism of the shaft engagement structure and the draping not influencing final positioning).

[0068] This same methodology may also be applied for assembling and / or placing the surgical tools themselves (e.g., the surgical tool 46a or the surgical tool 46b) onto the toolbox 58 (see FIG. 7). Again, the surgical system 10 may take advantage of the accuracy of the robotic actuator 30, without the need for calibration or for very high accuracy interfaces. The interface between the faces (e.g., faces 98, 102, 106, etc.) of the first and second tool holder bodies 82, 86 and the surgical tool (e.g., surgical tool 46a, surgical tool 46b, etc.) may hold the surgical tool in place in the position determined by the robotic actuator 30. For example, and as described above, each of the first face 98, the second face 102, the third face 106, etc. may include or otherwise define a tool holder engagement structure that releasably couples to the surgical tool. The tool holder engagement structure may be electromagnetic, purely mechanical, etc. The tool holder engagement structure may be an adaptable electromechanical locking mechanism, which can compensate for positional error and hold the surgical tool in the position determined by the robotic actuator 30.

[0069] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the techniques). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the techniques of this disclosure may be performed by a combination of units or modules associated with, for example, a medical device.

[0070] The following examples provide various embodiments disclosed herein.A0012685W001

[0071] Example 1. A robotic surgical system comprising: a robotic actuator; a set of surgical tools, wherein each of the surgical tools is configured to be separately and removably coupled to the robotic actuator; and a toolbox configured to store the surgical tools, wherein the toolbox includes a shaft configured to rotate about a shaft axis, and a tool holder body configured to be releasably coupled to the shaft.

[0072] Example 2. The robotic surgical system of Example 1, wherein each of the robotic actuator, the tool holder body, and the set of surgical tools is sterile.

[0073] Example 3. The robotic surgical system of Example 1 or Example 2, wherein the robotic actuator is a robotic arm having a proximal end and a distal end, wherein the robotic arm is configured to flex and position the distal end at a plurality of different spatial locations relative to the proximal end.

[0074] Example 4. The robotic surgical system of Example 3, further comprising a frame, wherein the proximal end of the robotic arm is coupled to the frame, and wherein the shaft is coupled to the frame.

[0075] Example 5. The robotic surgical system of any one of the preceding Examples, wherein a drape covers a portion of the shaft.

[0076] Example 6. The robotic surgical system of Example 5, wherein a distal end of the shaft is exposed outside of the drape, wherein the distal end is sterile.

[0077] Example 7. The robotic surgical system of Example 6, wherein the tool holder body is configured to be releasably coupled to the distal end of the shaft.

[0078] Example 8. The robotic surgical system of Example 7, wherein the distal end of the shaft includes an electromechanical lock to releasably couple the tool holder body to the distal end of the shaft.

[0079] Example 9. The robotic surgical system of any one of Examples 1-8, wherein the tool holder body is a first tool holder body, wherein the robotic surgical system further includes a second tool holder body, wherein the robotic actuator is configured to couple the first tool holderA0012685W001 body to a first side of the shaft, and wherein the robotic actuator is configured to couple the second tool holder body to a second, opposite side of the shaft.

[0080] Example 10. The robotic surgical system of Example 9, wherein the first tool holder body includes a first face to receive a first one of the surgical tools, and a second face to receive a second one of the surgical tools, wherein the second tool holder body includes a third face to receive a third one of the surgical tools, and a fourth face to receive a fourth one of the surgical tools.

[0081] Example 11. A robotic surgical system comprising: a surgical robotic arm having a distal end; a controller configured to control movement of the distal end of the surgical robotic arm; and a toolbox configured to store surgical tools; wherein the toolbox includes a rotatable shaft and tool holder body configured to be picked up by the distal end of the surgical robotic arm and releasably coupled to the rotatable shaft, wherein the controller is configured to store memory of a positioning of the tool holder body relative to the rotatable shaft.

[0082] Example 12. The robotic surgical system of Example 11, further comprising the surgical tools, wherein each of the surgical tools is configured to be separately and removably coupled to the surgical robotic arm, and wherein the controller is configured to store memory of a type of each of the surgical tools.

[0083] Example 13. The robotic surgical system of Example 11 or Example 12, wherein the tool holder body is a first tool holder body, wherein the robotic surgical system further includes a second tool holder body, wherein the surgical robotic arm is configured to couple the first tool holder body to a first side of the shaft, and wherein the surgical robotic arm is configured to couple the second tool holder body to a second side of the rotatable shaft.

[0084] Example 14. The robotic surgical system of Example 13, wherein the first tool holder body includes a first face to receive a first one of the surgical tools, and a second face to receive a second one of the surgical tools, wherein the second tool holder body includes a third face to receive a third one of the surgical tools, and a fourth face to receive a fourth one of the surgical tools.A0012685W001

[0085] Example 15. The robotic surgical system of any one of Examples 11-14, wherein the surgical robotic arm and the toolbox are each sterile.

[0086] Example 16. A method for controlling a robotic surgical system, the method comprising: rotating, using an electronic controller, a rotatable shaft of a toolbox including a set of surgical tools about a shaft axis, each surgical tool of the set of surgical tools releasably coupled to the rotatable shaft; moving, using the electronic controller, a robotic actuator relative to the toolbox; removing, using the robotic actuator, a first one of the set of surgical tools from the rotatable shaft, the first one of the surgical tools releasably coupled to the robotic actuator; and returning, using the robotic actuator, the first one of the set of surgical tools to the rotatable shaft.

[0087] Example 17. The method of Example 16, further comprising: removing, using the robotic actuator, a second one of the set of surgical tools from the rotatable shaft, the second one of the surgical tools releasably coupled to the robotic actuator; and returning, using the robotic actuator, the second one of the set of surgical tools to the rotatable shaft.

[0088] Example 18. The method of Example 16, further comprising: selecting, using the electronic controller, the first one of the set of surgical tools; and identifying, using the electronic controller, the first one of the set of surgical tools based on the selection.

[0089] Example 19. The method of Example 16, further comprising: determining, using the electronic controller, a position of the robotic actuator relative to the rotatable shaft; and determining, using the electronic controller, a position of the first one of the set of surgical tools relative to the rotatable shaft.

[0090] Example 20. The method of any one of Examples 16-19, wherein the robotic actuator and the toolbox are each sterile.

[0091] Although various aspects and examples have been described in detail with reference to certain examples illustrated in the drawings, variations and modifications exist within the scope and spirit of one or more independent aspects described and illustrated.

[0092] The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the disclosure areA0012685W001 grouped together in one or more aspects, embodiments, and / or configurations for the purpose of streamlining the disclosure. The features of the aspects, embodiments, and / or configurations of the disclosure may be combined in alternate aspects, embodiments, and / or configurations other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, embodiment, and / or configuration. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[0093] Moreover, though the foregoing has included description of one or more aspects, embodiments, and / or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, embodiments, and / or configurations to the extent permitted, including alternate, interchangeable and / or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and / or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

Claims

A0012685W001CLAIMSWhat is claimed is:

1. A robotic surgical system comprising: a robotic actuator; a set of surgical tools, wherein each of the surgical tools is configured to be separately and removably coupled to the robotic actuator; and a toolbox configured to store the surgical tools, wherein the toolbox includes a shaft configured to rotate about a shaft axis, and a tool holder body configured to be releasably coupled to the shaft.

2. The robotic surgical system of claim 1 , wherein each of the robotic actuator, the tool holder body, and the set of surgical tools is sterile.

3. The robotic surgical system of claim 1 or claim 2, wherein the robotic actuator is a robotic arm having a proximal end and a distal end, wherein the robotic arm is configured to flex and position the distal end at a plurality of different spatial locations relative to the proximal end.

4. The robotic surgical system of claim 3, further comprising a frame, wherein the proximal end of the robotic arm is coupled to the frame, and wherein the shaft is coupled to the frame.

5. The robotic surgical system of any one of the preceding claims, wherein a drape covers a portion of the shaft.

6. The robotic surgical system of claim 5, wherein a distal end of the shaft is exposed outside of the drape, wherein the distal end is sterile.

7. The robotic surgical system of claim 6, wherein the tool holder body is configured to be releasably coupled to the distal end of the shaft.A0012685W0018. The robotic surgical system of claim 7, wherein the distal end of the shaft includes an electromechanical lock to releasably couple the tool holder body to the distal end of the shaft.

9. The robotic surgical system of any one of the preceding claims, wherein the tool holder body is a first tool holder body, wherein the robotic surgical system further includes a second tool holder body, wherein the robotic actuator is configured to couple the first tool holder body to a first side of the shaft, and wherein the robotic actuator is configured to couple the second tool holder body to a second, opposite side of the shaft.

10. The robotic surgical system of claim 9, wherein the first tool holder body includes a first face to receive a first one of the surgical tools, and a second face to receive a second one of the surgical tools, wherein the second tool holder body includes a third face to receive a third one of the surgical tools, and a fourth face to receive a fourth one of the surgical tools.

11. The robotic surgical system of any one of the preceding claims, further comprising a controller, wherein the controller is configured to store memory of a positioning of the tool holder body relative to the rotatable shaft.

12. The robotic surgical system of claim 11, wherein the robotic actuator is a surgical robotic arm, wherein each of the surgical tools is configured to be separately and removably coupled to the surgical robotic arm, and wherein the controller is configured to store memory of a type of each of the surgical tools.

13. The robotic surgical system of claim 11 or claim 12, wherein the tool holder body is a first tool holder body, wherein the robotic surgical system further includes a second tool holder body, wherein the surgical robotic arm is configured to couple the first tool holder body to a first side of the rotatable shaft, and wherein the surgical robotic arm is configured to couple the second tool holder body to a second side of the rotatable shaft.

14. The robotic surgical system of claim 13, wherein the first tool holder body includes a first face to receive a first one of the surgical tools, and a second face to receive a second one of theA0012685W001 surgical tools, wherein the second tool holder body includes a third face to receive a third one of the surgical tools, and a fourth face to receive a fourth one of the surgical tools.

15. The robotic surgical system of any one of claims 11-14, wherein the surgical robotic arm and the toolbox are each sterile.

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