Surgical anchor-applying device

Abstract

A surgical device includes a handle assembly, an elongated assembly, a motor, a circuit board, and an encoder assembly. The encoder assembly is disposed within the handle assembly, and includes an encoder wheel and an encoder eye. The encoder wheel is rotatable about the first longitudinal axis defined by the elongated assembly, and is disposed in mechanical cooperation with the motor. The encoder eye is disposed in mechanical cooperation with the circuit board. The encoder assembly is configured to monitor rotation of the motor with regard to rotation of a first anchor, and is configured to determine if the rotation of the motor should be adjusted with regard to rotation of a second anchor.

Description

PATENT APPLICATIONAttorney Docket: A0013089WQ01SURGICAL ANCHOR- APPLYING DEVICECROSS-REFERENCE TO RELATED APPLICATION(S)

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 691,545, filed September 6, 2024, which is incorporated herein by reference in its entirety.BACKGROUND

[0002] The present disclosure relates to a surgical apparatus, device and / or system for performing endoscopic surgical procedures and methods of use thereof. More specifically, the present disclosure relates to a surgical device for applying anchors, and / or system for performing endoscopic surgical procedures, which is configured to releasably house a plurality of surgical anchors.

[0003] Various surgical procedures require instruments capable of applying anchors to tissue to form tissue connections or to secure objects to tissue. For example, during hernia repair it is often desirable to fasten a mesh to body tissue. In certain hernias, such as direct or indirect inguinal hernias, a part of the intestine protrudes through a defect in the abdominal wall to form a hernial sac. The defect may be repaired using an open surgery procedure in which a relatively large incision is made, and the hernia is closed outside the abdominal wall by suturing. The mesh is attached with sutures over the opening in the abdominal wall to provide reinforcement.

[0004] Minimally invasive, e.g., endoscopic or laparoscopic, surgical procedures are currently available to repair a hernia. In laparoscopic procedures, surgery is performed in the abdomen through a small incision while in endoscopic procedures, surgery is performed through narrow endoscopic tubes or cannulas inserted through small incisions in the body. Laparoscopic and endoscopic procedures generally utilize long and narrow instruments capable of reaching remote regions within the body and configured to seal with the incision or tube they are inserted through. Additionally, the instruments must be capable of being actuated remotely, that is, from outside the body.

[0005] Currently, minimally invasive surgical techniques for hernia repair utilize surgical anchors, e.g., surgical tacks, staples, and clips, to secure the mesh to the tissue to provide reinforcement and structure for encouraging tissue ingrowth. Surgical anchors are often applied through an elongate instrument for delivery to the mesh, and are manipulated from outside a body cavity.PATENT APPLICATIONAttorney Docket: A0013089WQ01

[0006] In some procedures permanent anchors may be required, while in other procedures bioabsorbable anchors may be required, or both. The laparoscopic or endoscopic instruments are typically loaded with either permanent anchors or bioabsorbable anchors. Additionally, following a surgical procedure, these laparoscopic or endoscopic instruments are typically disposed of.SUMMARY

[0007] The present disclosure relates to a surgical device including a handle assembly, an elongated assembly, a motor, a circuit board, and an encoder assembly. The elongated assembly extends distally from the handle assembly, defines a first longitudinal axis, and includes an inner tube. The motor assembly is disposed within the handle assembly and is configured to cause rotation of the inner tube about the first longitudinal axis relative to the handle assembly to cause distal movement of at least one anchor disposed within the elongated portion. The motor assembly includes a motor disposed in mechanical cooperation with the inner tube. The circuit board is disposed within the handle assembly. The encoder assembly is disposed within the handle assembly, and includes an encoder wheel and an encoder eye. The encoder wheel is rotatable about the first longitudinal axis and is disposed in mechanical cooperation with the motor. The encoder eye is disposed in mechanical cooperation with the circuit board. The encoder assembly is configured to monitor rotation of the motor with regard to rotation of a first anchor of the at least one anchor, and is configured to determine if the rotation of the motor should be adjusted with regard to rotation of a second anchor of the at least one anchor.

[0008] In disclosed embodiments, the encoder assembly is configured to determine if the rotation of the motor should be adjusted with regard to the rotation of the second anchor of the at least one anchor based on the rotation of the first anchor of the at least one anchor. In embodiments, the encoder assembly is configured to cause an adjustment in the rotation of the motor with regard to the rotation of the second anchor of the at least one anchor based on the rotation of the first anchor of the at least one anchor.

[0009] In disclosed embodiments, the encoder wheel is fixed from rotation about the first longitudinal axis relative to the motor.

[0010] In disclosed embodiments, a portion of the encoder wheel rotates through a slot of the encoder eye.PATENT APPLICATIONAttorney Docket: A0013089WQ01

[0011] In disclosed embodiments, the handle assembly includes a body portion configured to be gripped by a user during actuation of the surgical device. The body portion defines a second longitudinal axis. The second longitudinal axis is substantially parallel to the first longitudinal axis.

[0012] In disclosed embodiments, the surgical device includes a light assembly. At least a portion of the light assembly is disposed in mechanical cooperation with the circuit board. The light assembly is configured to provide a visual indication relating to a first operational status of the surgical device. In embodiments, the surgical device includes a speaker disposed in mechanical cooperation with the circuit board and configured to provide an audio indication relating to a second operational status of the surgical device. In embodiments, rotation of the motor of the motor assembly with respect to the body portion of the handle assembly provides a haptic indication relating to a third operational status of the surgical device.

[0013] The present disclosure also relates to a surgical device including a handle assembly, an elongated assembly, and a motor assembly. The handle assembly includes a body portion configured to be gripped by a user during actuation of the surgical device. The body portion defines a first longitudinal axis. The elongated assembly extends distally from the handle assembly, defines a second longitudinal axis, and includes an inner tube. The first longitudinal axis is substantially parallel to the second longitudinal axis. The motor assembly is disposed within the handle assembly and is configured to rotate the inner tube about the second longitudinal axis relative to the handle assembly to cause distal movement of at least one anchor disposed within the elongated portion. The motor assembly includes a motor disposed in mechanical cooperation with the inner tube.

[0014] In disclosed embodiments, the motor of the motor assembly is disposed within the body portion of the handle assembly.

[0015] In disclosed embodiments, the first longitudinal axis is disposed a first angle with respect to the second longitudinal axis. The first angle is less than 45°.

[0016] In disclosed embodiments, the surgical device includes a circuit board and a light assembly. The circuit board is disposed within the handle assembly. At least a portion of the light assembly is disposed in mechanical cooperation with the circuit board. The light assembly is configured to provide a visual indication relating to a first operational status of the surgical device. In embodiments, the surgical device includes a speaker disposed in mechanical cooperation withPATENT APPLICATIONAttorney Docket: A0013089WQ01 the circuit board and configured to provide an audio indication relating to a second operational status of the surgical device. In embodiments, rotation of the motor of the motor assembly with respect to the body portion of the handle assembly provides a haptic indication relating to a third operational status of the surgical device.

[0017] The present disclosure also relates to a surgical device including a handle assembly, an elongated assembly, a motor assembly, a circuit board, an encoder assembly, and a light assembly. The handle assembly includes a body portion configured to be gripped by a user during actuation of the surgical device. The body portion defines a first longitudinal axis. The elongated assembly extends distally from the handle assembly and includes an inner tube. The elongated assembly defines a second longitudinal axis. The first longitudinal axis is disposed a first angle with respect to the second longitudinal axis, the first angle is between about 0° and about 30°. The motor assembly is disposed within the handle assembly and is configured to rotate the inner tube about the second longitudinal axis relative to the handle assembly to cause distal movement of at least one anchor disposed within the elongated portion. The motor assembly includes a motor disposed in mechanical cooperation with the inner tube. The circuit board is disposed within the handle assembly. The encoder assembly is disposed within the handle assembly. The encoder assembly is configured to monitor rotation of the motor with regard to rotation of a first anchor of the at least one anchor, and is configured to determine if the rotation of the motor should be adjusted with regard to rotation of a second anchor of the at least one anchor. At least a portion of the light assembly is disposed in mechanical cooperation with the circuit board. The light assembly is configured to provide a visual indication relating to a first operational status of the surgical device.

[0018] In disclosed embodiments, the encoder assembly includes an encoder wheel and an encoder eye. The encoder wheel is rotatable about the second longitudinal axis and is disposed in mechanical cooperation with the motor. The encoder eye is disposed in mechanical cooperation with the circuit board. In embodiments, the encoder wheel is fixed from rotation about the second longitudinal axis relative to the motor.

[0019] In disclosed embodiments, the motor of the motor assembly is disposed within the body portion of the handle assembly.

[0020] In disclosed embodiments, the surgical device includes a speaker disposed in mechanical cooperation with the circuit board and configured to provide an audio indicationPATENT APPLICATIONAttorney Docket: A0013089WQ01 relating to a second operational status of the surgical device. In disclosed embodiments, rotation of the motor of the motor assembly with respect to the body portion of the handle assembly provides a haptic indication relating to a third operational status of the surgical device.

[0021] Further details and aspects of exemplary embodiments of the present disclosure are described in more detail below with reference to the appended figures.BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Embodiments of the present disclosure are described herein with reference to the accompanying drawings, wherein:

[0023] FIG. 1 is a perspective view of a surgical device in accordance with the present disclosure;

[0024] FIG. 2 is a side, elevational view of a handle assembly of the surgical device of FIG. 1;

[0025] FIG. 3 is a left side, perspective view of the handle assembly of the surgical device of FIG. 1, illustrating a half-section of the handle assembly removed therefrom;

[0026] FIG. 4 is a right side, perspective view of the handle assembly of the surgical device of FIG. 1, illustrating a half-section of the handle assembly removed therefrom;

[0027] FIG. 5 is a left side, perspective view of a portion of the handle assembly of the surgical device of FIG. 1, illustrating a half-section of the handle assembly removed therefrom;

[0028] FIG. 6 is a perspective view of various components within the handle assembly of the surgical device of FIG. 1 ; and

[0029] FIG. 7 is a schematic illustration of a robotic surgical system configured for use in accordance with the disclosure.DETAILED DESCRIPTION OF EMBODIMENTS

[0030] Embodiments of the presently disclosed surgical anchor-applying device are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term “distal” refers to that portion of the surgical anchor-applying device (or “surgical device”), that is farther from the user, while the term “proximal” refers to that portion of the surgical device that is closer to the user.PATENT APPLICATIONAttorney Docket: A0013089WQ01

[0031] Referring to FIG. 1, a surgical device 10 for use in installing or implanting surgical anchors in tissue is shown. The surgical device 10 generally includes a handle assembly 12 and an elongated assembly 14 extending distally from the handle assembly 12. The handle assembly 12 includes a handle housing 16 which is formed from two housing halves 16a and 16b. The handle housing 16 has a body portion 18, and an actuation portion 20. The body portion 18 is configured to be gripped by a user. An actuation member 26 (e.g., button) is mounted on the actuation portion 20 to actuate a motor 24 of a motor assembly 23 in a manner described in more detail below.

[0032] The elongated assembly 14 defines a longitudinal axis “A- A” extending therethrough. As shown in FIG. 2, the longitudinal axis “A- A” extends through a distal-most wall 18a of the body portion 18 and through a proximal-most wall 18b of the body portion 18. The body portion 18 defines a central longitudinal axis “B-B” extending therethrough. In the illustrated embodiment, the longitudinal axis “B-B” is defined between a vertical midpoint of the distal-most wall 18a of the body portion 18 and a vertical midpoint of the proximal-most wall 18b of the body portion 18. As shown in FIG. 2, the longitudinal axis “A- A” and the longitudinal axis “B-B” are substantially coaxial and, in embodiments, may be separated by between about 0° and about 20° (e.g., about 10°). Thus, the body portion 18 is substantially coaxial with the elongated assembly 14.

[0033] During use of the surgical device 10 the substantial collinearity of the elongated assembly 14 (longitudinal axis "A- A”) and the body portion 18 (longitudinal axis “B-B”) of the handle assembly 12 helps direct a distally-directed force acting on the handle assembly 12 through the elongated assembly 14 and into tissue (e.g., when pushing the surgical device 10 distally while dispensing an anchor). By contrast, when a distally-directed force is applied, when using a surgical instrument having a pistol-style grip (where the gripping portion of the handle assembly is substantially perpendicular to the axis of the elongated portion), this force is applied below (or above) the longitudinal axis defined by the elongated portion and can thus cause the elongated portion to bend, which results in a less robust surgical instrument.

[0034] The present disclosure also includes embodiments where the longitudinal axis “A- A” and the longitudinal axis “B-B” are offset by between about 0° and about 45° (including being offset by less than 45°, and being offset by less than 30°). In these embodiments, a majority of the distally-directed force that acts on the handle assembly 12, is transferred through the elongated assembly 14 and into tissue.PATENT APPLICATIONAttorney Docket: A0013089WQ01

[0035] The handle assembly 12 also includes an indicator or light assembly 80, which is provided to indicate the status of the various cycles and / or operational status of the surgical device 10. It is also envisioned that a switch (not explicitly shown in FIG. 1) may be used to turn the surgical device 10 on and off.

[0036] With reference to FIGS. 3 and 4, the elongated assembly 14 includes an outer tube 30 which is mounted for movement relative to the handle assembly 12. An inner tube 38 is positioned within the outer tube 30 and also extends distally from the handle assembly 12. A proximal end 32 of the outer tube 30 is movably mounted through an open distal end 34 of the handle assembly 12. In embodiments, engagement of a distal end 36 (FIG. 1) of the outer tube 30 with tissue moves the outer tube 30 relative to the handle assembly 12 to activate a lockout or safety mechanism. Examples of such a lockout or safety mechanism are described in U.S. Patent No. 7,931,660 to Aranyi et al., the entire contents of which are incorporated by reference herein.

[0037] Referring now to FIGS. 3-6, the handle assembly 12 includes the motor assembly 23 mounted in the body portion 18. A motor 24 of the motor assembly 23 powers the surgical device 10 to drive surgical anchors into tissue. Moreover, the motor 24 is configured to rotate and advance the inner tube 38 relative to the outer tube 30 in response to actuation of the actuation member 26 in order to install a surgical anchor into tissue. The handle assembly 12 includes at least one battery 53 (within a battery compartment 54) to power the motor 24. A trigger switch 56 (FIG. 6) is provided within the handle assembly 12 and is actuated by the actuation member 26 to operate the motor 24. The trigger switch 56 may be a multi-position type switch allowing actuation of the motor 24 in both a forward direction and a reverse direction. The handle assembly 12 also includes a circuit board 58 which is provided to control the electronics of the surgical device 10. In addition to managing the flow of current from the battery through the trigger switch 56 and to the motor 24, the circuit board 58 also acts as the “brain” of surgical device 10. The circuit board 58 (and / or at least one processor thereon) receives signals from various safety- and motion- limiting-switches, and displays the various operational status conditions of surgical device 10 by means of the indicator light assembly 80, as discussed in further detail below.

[0038] As noted hereinabove, the inner tube 38 is rotatably mounted to the handle assembly 12 to enable the delivery a surgical anchor into tissue. The handle assembly 12 includes a drive assembly 60 which is rotatably mounted within the handle housing 16. In response to actuation of the actuation member 26, the drive assembly 60 rotates the inner tube 38 relative toPATENT APPLICATIONAttorney Docket: A0013089WQ01 the handle housing 16, and moves the inner tube 38 longitudinally relative to the handle housing 16. As the inner tube 38 rotates and travels distally, the anchors within the inner tube 38 also rotate and travel distally, as the anchors are seated at least partially within the outer tube 30 and are rotatably fixed relative to the inner tube 38. Further details regarding the drive assembly 60 and anchors are described in U.S. Patent No. 7,931,660 to Aranyi et al., the entire contents of which have been incorporated by reference herein. Additionally, further details regarding the ejection of the anchors are described in U.S. Patent No. 11,116,500 to Cloutier et al., the entire contents of which are incorporated by reference herein.

[0039] As noted above, the handle assembly 12 includes the indicator light assembly 80 which is provided to indicate the various operational conditions of the surgical device 10. The indicator light assembly 80 includes a red-green-blue light emitting diode (“LED”) 82, a light pipe 84, and a window 86. As shown in FIG. 5, the LED 82 and the light pipe 84 are both disposed on the circuit board 58. The light pipe 84 directs the light emitted from the LED 82 toward the window 86 on the handle housing 16 of the handle assembly 12 such that the light is visible through the window 86. More particularly, the light pipe 84 directs the light along path “P,” in FIG. 5. The circuit board 58 (or an associated processor) sends a signal to the LED 82 instructing the LED 82 to emit a light, and which color the light should be, in response to a particular condition of the surgical device 10.

[0040] For instance, the circuit board 58 instructs the LED 82 to emit a green light when the surgical device 10 is in a ready -to-fire position (e.g., the outer tube 30 has been moved proximately to actuate safety switches); the circuit board 58 instructs the LED 82 to emit a yellow light while the surgical device 10 is in a fault condition; and the circuit board 58 instructs the LED 82 to emit a red light after the surgical device 10 has ejected the last fastener. Additionally, the circuit board 58 can instruct the LED 82 to flash a particular color in particular patterns. For instance, the circuit board 58 can instruct the LED 82 to flash in yellow when the battery has low power; the circuit board 58 can instruct the LED 82 to flash in red when there is a mechanical problem; and / or the circuit board 58 can instruct the LED 82 to flash in green after the final anchor has been fired. Likewise, the circuit board 58 is programmable to instruct the LED 82 to illuminate / flash in various patterns for a plethora of other reasons, and can be pre-programmed accordingly.PATENT APPLICATIONAttorney Docket: A0013089WQ01

[0041] A variety of proximity sensors, switches, etc. are usable in connection with the circuit board 58 to help determine when to illuminate the LED 82, and in which color and / or pattern.

[0042] As shown in FIG. 4, the surgical device 10 also includes a speaker 90 engaged with the circuit board 58. The speaker 90 is configured to provide audio indication of various operational conditions of the surgical device 10. In embodiments, combinations of volume, pitch, duration, and patterns of sounds can be emitted from the speaker 90 to indicate to a user whether the surgical device 10 is ready to fire, in the process of firing, has a battery with low power, includes no more anchors, etc. The circuit board 58 (or an associated processor) sends a signal to the speaker 90 instructing the speaker 90 to produce a sound, and at which volume, pitch, duration and / or pattern the sound should be, in response to a particular condition of the surgical device 10.

[0043] In addition to the visual feedback provided by the LED 82 and the audio feedback provided by the speaker 90, the surgical device 10 also provides haptic or tactile feedback. More particularly, when the motor 24 is actuated in response to activation of the actuation member 26, the motor 24 rotates relative to the handle housing 16 of the handle assembly 12. The rotation of the motor 24 produces a vibration that is able to be felt by a user’s hand when the hand is on the body portion 18 of the handle assembly 12.

[0044] Thus, the surgical device 10 is configured to provide visual feedback, audio feedback, and haptic feedback.

[0045] Referring now to FIGS. 5 and 6, an encoder assembly 100 of the surgical device 10 is shown. The encoder assembly 100 is part of the motor assembly 23 and is used to help ensure that each anchor is delivered into media within a specific range of tolerance, for instance. Additionally, the encoder assembly 100 enables timing correction to help ensure that each anchor within the elongated assembly 14 is sufficiently rotated, which helps minimize error accumulation.

[0046] The encoder assembly 100 includes an encoder wheel 102 and an encoder eye 104. The encoder wheel 102 is mounted on a shaft 25 of the motor assembly 23 and is configured to rotate along with the motor 24 relative to the circuit board 58. The encoder eye 104 is engaged with the circuit board 58 and includes a slot 105 through which the encoder wheel 102 rotates.

[0047] Additionally, the encoder eye 104 includes and / or is in communication with software to help ensure the encoder assembly 100 can deliver each anchor within a specific range of tolerance and with a sufficient amount of rotation. More particularly, the software and thePATENT APPLICATIONAttorney Docket: A0013089WQ01 encoder eye 104 work together to measure the rotational movement of the encoder wheel 102 relative to the encoder eye 104. The rotation of the encoder wheel 102 corresponds to the rotation of the motor 24, the motor shaft 25, the inner tube 38, and the anchors.

[0048] The rotational movement of the anchors sequentially emplaces the anchors through media and into tissue. Any over-rotation or under-rotation of the anchors, due to tolerances, for instance, may have a compound effect and result in an accumulated over- or under-rotation of the final anchor or final few anchors, for instance.

[0049] The software of the encoder assembly 100 is also in communication with the motor assembly 23 and the trigger switch 56. The encoder eye 104 is programmed to interact with the encoder wheel 102 and the motor 24 to permit a precise amount of rotational movement of each anchor, thereby helping to prevent significant over- rotation (i.e., over- insertion) and under-rotation (i.e., under- insertion) of the anchors. Moreover, in addition to the amount of rotational movement provided by the trigger switch 56 to the motor 24 (and thus to the inner tube 38 and anchors), the encoder assembly 100 (including its software) is configured to signal the motor assembly 23 to provide more or less rotational movement to a particular anchor based on the amount of rotation provided to a previous anchor in an effort to compensate for any over- or under-rotation of previously-fired anchor(s).

[0050] In accordance with the present disclosure, it is also contemplated that handle assembly 12 may be replaced by an electromechanical control module configured and adapted to drive the inner tube 38 to fire or actuate the surgical device 10. The electromechanical control module may include at least one microprocessor, at least one drive motor controllable by the at least one microprocessor, and a source of power for energizing the at least one microprocessor and the at least one drive motor.Telesurgery

[0051] The various embodiments disclosed herein may also be configured to work with robotic surgical systems and what is commonly referred to as “Telesurgery.” Such systems employ various robotic elements to assist the surgeon in the operating theater and allow remote operation (or partial remote operation) of surgical instrumentation. Various robotic arms, gears, cams, pulleys, electric and mechanical motors, etc. may be employed for this purpose and may be designed with a robotic surgical system to assist the surgeon during the course of an operation or treatment. Such robotic systems may include, remotely steerable systems, automatically flexiblePATENT APPLICATIONAttorney Docket: A0013089WQ01 surgical systems, remotely flexible surgical systems, remotely articulating surgical systems, wireless surgical systems, modular or selectively configurable remotely operated surgical systems, etc.

[0052] The robotic surgical systems may be employed with one or more consoles that are next to the operating theater or located in a remote location. In this instance, one team of surgeons or nurses may prepare the patient for surgery and configure the robotic surgical system with one or more of the instruments disclosed herein while another surgeon (or group of surgeons) remotely control the instruments via the robotic surgical system. As can be appreciated, a highly skilled surgeon may perform multiple operations in multiple locations without leaving his / her remote console which can be both economically advantageous and a benefit to the patient or a series of patients.

[0053] The robotic arms of the surgical system are typically coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the working ends of any type of surgical instrument (e.g., end effectors, graspers, knifes, scissors, etc.) which may complement the use of one or more of the embodiments described herein. The movement of the master handles may be scaled so that the working ends have a corresponding movement that is different, smaller or larger, than the movement performed by the operating hands of the surgeon. The scale factor or gearing ratio may be adjustable so that the operator can control the resolution of the working ends of the surgical instrument(s).

[0054] The master handles may include various sensors to provide feedback to the surgeon relating to various tissue parameters or conditions, e.g., tissue resistance due to manipulation, cutting or otherwise treating, pressure by the instrument onto the tissue, tissue temperature, tissue impedance, etc. As can be appreciated, such sensors provide the surgeon with enhanced tactile feedback simulating actual operating conditions. The master handles may also include a variety of different actuators for delicate tissue manipulation or treatment further enhancing the surgeon’s ability to mimic actual operating conditions.

[0055] With reference to FIG. 7, a surgical system, such as, for example, a robotic surgical system is shown generally as surgical system 1000 and is usable with the surgical device 10, or portions thereof, of the disclosure. The surgical system 1000 generally includes a plurality of robotic arms 1002, 1003, a control device 1004, and an operating console 1005 coupled with the control device 1004. The operating console 1005 includes a display device 1006, which is set upPATENT APPLICATIONAttorney Docket: A0013089WQ01 in particular to display three-dimensional images; and manual input devices 1007, 1008, by means of which a person (not shown), for example a surgeon, is able to telemanipulate the robotic arms 1002, 1003 in a first operating mode, as known in principle to a person skilled in the art.

[0056] Each of the robotic arms 1002, 1003 is composed of a plurality of members, which are connected through joints. The surgical device 10, or portions thereof, may be attached to an instrument drive unit 2000, in accordance with any one of several embodiments disclosed herein, as will be described in greater detail below.

[0057] The robotic arms 1002, 1003 may be driven by electric drives (not shown) that are connected to the control device 1004. The control device 1004 (e.g., a computer) is set up to activate the drives, in particular by means of a computer program, in such a way that the robotic arms 1002, 1003, their instrument drive units 1200 and thus the surgical device 10 execute a desired movement according to a movement defined by means of manual input devices 1007, 1008. The control device 1004 may also be set up in such a way that it regulates the movement of the robotic arms 1002, 1003 and / or of the drives.

[0058] The surgical system 1000 is configured for use on a patient 1013 lying on a patient table 1012 to be treated in a minimally invasive manner by means of the surgical device 10. The surgical system 1000 may also include more or fewer than two robotic arms 1002, 1003, with any additional robotic arms likewise being connected to the control device 1004 and being telemanipulatable by means of the operating console 1005.

[0059] Reference may be made to U.S. Patent No. 8,828,023, entitled “Medical Workstation,” the entire content of which is incorporated herein by reference, for a detailed discussion of the construction and operation of the surgical system 1000.

[0060] It should be understood that the foregoing description is only illustrative of the disclosure. Various alternatives and modifications can be devised by those skilled in the art without departing from the disclosure. Accordingly, this disclosure is intended to embrace all such alternatives, modifications and variances. The embodiments described with reference to the attached drawing figures are presented only to demonstrate certain examples of the disclosure. Other elements, steps, methods and techniques that are insubstantially different from those described above and / or in the appended claims are also intended to be within the scope of the disclosure.

[0061] The following examples are illustrative of the techniques described herein.PATENT APPLICATIONAttorney Docket: A0013089WQ01

[0062] Example 1. A surgical device, comprising: a handle assembly; an elongated assembly extending distally from the handle assembly and including an inner tube, the elongated assembly defining a first longitudinal axis; a motor assembly disposed within the handle assembly and configured to cause rotation of the inner tube about the first longitudinal axis relative to the handle assembly to cause distal movement of at least one anchor disposed within the elongated portion, the motor assembly including a motor disposed in mechanical cooperation with the inner tube; a circuit board disposed within the handle assembly; and an encoder assembly disposed within the handle assembly, the encoder assembly including an encoder wheel and an encoder eye, the encoder wheel being rotatable about the first longitudinal axis and disposed in mechanical cooperation with the motor, the encoder eye being disposed in mechanical cooperation with the circuit board, wherein the encoder assembly is configured to monitor rotation of the motor with regard to rotation of a first anchor of the at least one anchor, and is configured to determine if the rotation of the motor should be adjusted with regard to rotation of a second anchor of the at least one anchor.

[0063] Example 2. The surgical device according to example 1, wherein the encoder assembly is configured to determine if the rotation of the motor should be adjusted with regard to the rotation of the second anchor based on the rotation of the first anchor of the at least one anchor.

[0064] Example 3. The surgical device according to example 2, wherein the encoder assembly is configured to cause an adjustment in the rotation of the motor with regard to the rotation of the second anchor based on the rotation of the first anchor of the at least one anchor.

[0065] Example 4. The surgical device according to example 1, wherein the encoder wheel is fixed from rotation about the first longitudinal axis relative to the motor.

[0066] Example 5. The surgical device according to example 1, wherein a portion of the encoder wheel rotates through a slot of the encoder eye.

[0067] Example 6. The surgical device according to example 1, wherein the handle assembly includes a body portion configured to be gripped by a user during actuation of the surgical device, wherein the body portion defines a second longitudinal axis, and wherein the second longitudinal axis is substantially parallel to the first longitudinal axis.

[0068] Example 7. The surgical device according to example 1 , further including a light assembly, at least a portion of the light assembly is disposed in mechanical cooperation with thePATENT APPLICATIONAttorney Docket: A0013089WQ01 circuit board, wherein the light assembly is configured to provide a visual indication relating to a first operational status of the surgical device.

[0069] Example 8. The surgical device according to example 7, further including a speaker disposed in mechanical cooperation with the circuit board and configured to provide an audio indication relating to a second operational status of the surgical device.

[0070] Example 9. The surgical device according to example 8, wherein rotation of the motor of the motor assembly with respect to the body portion of the handle assembly provides a haptic indication relating to a third operational status of the surgical device.

[0071] Example 10. A surgical device, comprising: a handle assembly including a body portion configured to be gripped by a user during actuation of the surgical device, the body portion defining a first longitudinal axis; an elongated assembly extending distally from the handle assembly and including an inner tube, the elongated assembly defining a second longitudinal axis, the first longitudinal axis being substantially parallel to the second longitudinal axis; and a motor assembly disposed within the handle assembly and configured to rotate the inner tube about the second longitudinal axis relative to the handle assembly to cause distal movement of an anchor disposed within the elongated portion, the motor assembly including a motor disposed in mechanical cooperation with the inner tube.

[0072] Example 11. The surgical device according to example 10, wherein the motor of the motor assembly is disposed within the body portion of the handle assembly.

[0073] Example 12. The surgical device according to example 10, wherein the first longitudinal axis is disposed a first angle with respect to the second longitudinal axis, the first angle being less than 45°.

[0074] Example 13. The surgical device according to example 10, further including a circuit board and a light assembly, the circuit board is disposed within the handle assembly, at least a portion of the light assembly is disposed in mechanical cooperation with the circuit board, wherein the light assembly is configured to provide a visual indication relating to a first operational status of the surgical device.

[0075] Example 14. The surgical device according to example 13, further including a speaker disposed in mechanical cooperation with the circuit board and configured to provide an audio indication relating to a second operational status of the surgical device.PATENT APPLICATIONAttorney Docket: A0013089WQ01

[0076] Example 15. The surgical device according to example 14, wherein rotation of the motor of the motor assembly with respect to the body portion of the handle assembly provides a haptic indication relating to a third operational status of the surgical device.

[0077] Example 16. A surgical device, comprising: a handle assembly including a body portion configured to be gripped by a user during actuation of the surgical device, the body portion defining a first longitudinal axis; an elongated assembly extending distally from the handle assembly and including an inner tube, the elongated assembly defining a second longitudinal axis, wherein the first longitudinal axis is disposed a first angle with respect to the second longitudinal axis, the first angle being between about 0° and about 30°; a motor assembly disposed within the handle assembly and configured to rotate the inner tube about the second longitudinal axis relative to the handle assembly to cause distal movement of at least one anchor disposed within the elongated portion, the motor assembly including a motor disposed in mechanical cooperation with the inner tube; a circuit board disposed within the handle assembly; an encoder assembly disposed within the handle assembly, wherein the encoder assembly is configured to monitor rotation of the motor with regard to rotation of a first anchor of the at least one anchor, and is configured to determine if the rotation of the motor should be adjusted with regard to rotation of a second anchor of the at least one anchor; and a light assembly, at least a portion of the light assembly is disposed in mechanical cooperation with the circuit board, wherein the light assembly is configured to provide a visual indication relating to a first operational status of the surgical device.

[0078] Example 17. The surgical device according to example 16, wherein the encoder assembly includes an encoder wheel and an encoder eye, the encoder wheel being rotatable about the second longitudinal axis and disposed in mechanical cooperation with the motor, the encoder eye being disposed in mechanical cooperation with the circuit board.

[0079] Example 18. The surgical device according to example 17, wherein the encoder wheel is fixed from rotation about the second longitudinal axis relative to the motor.

[0080] Example 19. The surgical device according to example 16, wherein the motor of the motor assembly is disposed within the body portion of the handle assembly.

[0081] Example 20. The surgical device according to example 16, further including a speaker disposed in mechanical cooperation with the circuit board and configured to provide an audio indication relating to a second operational status of the surgical device, and wherein rotationPATENT APPLICATIONAttorney Docket: A0013089WQ01 of the motor of the motor assembly with respect to the body portion of the handle assembly provides a haptic indication relating to a third operational status of the surgical device.

Claims

PATENT APPLICATIONAttorney Docket: A0013089WQ01What is claimed is:

1. A surgical device, comprising: a handle assembly; an elongated assembly extending distally from the handle assembly and including an inner tube, the elongated assembly defining a first longitudinal axis; a motor assembly disposed within the handle assembly and configured to cause rotation of the inner tube about the first longitudinal axis relative to the handle assembly to cause distal movement of at least one anchor disposed within the elongated assembly, the motor assembly including a motor disposed in mechanical cooperation with the inner tube; a circuit board disposed within the handle assembly; and an encoder assembly disposed within the handle assembly, the encoder assembly including an encoder wheel and an encoder eye, the encoder wheel being rotatable about the first longitudinal axis and disposed in mechanical cooperation with the motor, the encoder eye being disposed in mechanical cooperation with the circuit board, wherein the encoder assembly is configured to monitor rotation of the motor with regard to rotation of a first anchor of the at least one anchor, and is configured to determine if the rotation of the motor should be adjusted with regard to rotation of a second anchor of the at least one anchor.

2. The surgical device according to claim 1 , wherein the encoder assembly is configured to determine if the rotation of the motor should be adjusted with regard to the rotation of the second anchor based on the rotation of the first anchor of the at least one anchor.

3. The surgical device according to any of the preceding claims, wherein the encoder assembly is configured to cause an adjustment in the rotation of the motor with regard to the rotation of the second anchor based on the rotation of the first anchor of the at least one anchor.

4. The surgical device according to any of the preceding claims, wherein the encoder wheel is fixed from rotation about the first longitudinal axis relative to the motor.PATENT APPLICATIONAttorney Docket: A0013089WQ015. The surgical device according to any of the preceding claims, wherein a portion of the encoder wheel rotates through a slot of the encoder eye.

6. The surgical device according to any of the preceding claims, wherein the handle assembly includes a body portion configured to be gripped by a user during actuation of the surgical device, wherein the body portion defines a second longitudinal axis, and wherein the second longitudinal axis is substantially parallel to the first longitudinal axis.

7. The surgical device according to any of the preceding claims, further including a light assembly, at least a portion of the light assembly is disposed in mechanical cooperation with the circuit board, wherein the light assembly is configured to provide a visual indication relating to a first operational status of the surgical device.

8. The surgical device according to any of the preceding claims, further including a speaker disposed in mechanical cooperation with the circuit board and configured to provide an audio indication relating to a second operational status of the surgical device.

9. The surgical device according to any of the preceding claims, wherein rotation of the motor of the motor assembly with respect to the body portion of the handle assembly provides a haptic indication relating to a third operational status of the surgical device.

10. The surgical device according to any of the preceding claims, wherein the handle assembly includes a body portion configured to be gripped by a user during actuation of the surgical device, the body portion defining a body portion longitudinal axis; wherein the elongated assembly includes an inner tube defining an inner tube longitudinal axis; and wherein the motor assembly is disposed within the handle assembly and configured to rotate the inner tube about the inner tube longitudinal axis relative to the handle assembly to cause distal movement of an anchor disposed within the elongated assembly, the motor assembly including a motor disposed in mechanical cooperation with the inner tube.

11. The surgical device according to any of the preceding claims, wherein the motor of the motor assembly is disposed within the body portion of the handle assembly.PATENT APPLICATIONAttorney Docket: A0013089WQ0112. The surgical device according to any of the preceding claims, wherein the body portion longitudinal axis is disposed a first angle with respect to the inner tube longitudinal axis, the first angle being less than 45°.

13. The surgical device according to any of the preceding claims, further including a light assembly, the circuit board is disposed within the handle assembly, at least a portion of the light assembly is disposed in mechanical cooperation with the circuit board, wherein the light assembly is configured to provide a visual indication relating to a first operational status of the surgical device.

14. The surgical device according to any of the preceding claims, further including a speaker disposed in mechanical cooperation with the circuit board and configured to provide an audio indication relating to a second operational status of the surgical device.

15. The surgical device according to any of the preceding claims, wherein rotation of the motor of the motor assembly with respect to the body portion of the handle assembly provides a haptic indication relating to a third operational status of the surgical device.

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