Robotic surgical systems with steerable overtube controller, sterile drape adapter and presence detection

Abstract

Robotic surgical systems include an operator control adapted to receive movement input from an operator and a robotic overtube controller having a first drive assembly configured to drive bending motion of a steerable overtube in first and second opposing directions, and a second drive assembly configured to drive bending motion of the steerable overtube in third and fourth opposing directions. Robotic surgical systems also include a system controller in communication with the operator control and the robotic overtube controller, the system controller adapted to receive the movement input from the operator control, translate the movement input to control output, and send the control output to the robotic overtube controller. Sterile drape adapters, drape assemblies and presence detection systems, as well as related software are also provided.

Description

Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCROBOTIC SURGICAL SYSTEMS WITH STEERABLE OVERTUBE CONTROLLER, STERILE DRAPE ADAPTER AND PRESENCE DETECTIONCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to and the benefit of U.S. Patent Application Numbers 63 / 751,912, 63 / 751,927, and 63 / 751,953, each filed 31 January 2025, the entire contents of which are incorporated herein by reference in their entirety.TECHNICAL FIELD

[0002] This disclosure is directed to various aspects of surgical robots utilizing a flexible access port or steerable overtube, which are particularly suited for use in endoluminal (endolumenal) surgical procedures, and more particularly, to robotically assisted transoral, transesophageal, transumbilical, intragastric, transanal and transvaginal endoscopic surgical procedures, techniques, and treatments, sometimes referred to as Natural Orifice Transluminal (Translumenal) Endoscopic Surgery (NOTES), as well as in Single Incision Laparoscopic Surgery (SILS), Single Port Access (SPA) surgery, Natural Orifice Trans- Umbilical Surgery (NOTUS), Laparo-Endoscopic Single-site Surgery (LESS), One Port Umbilical Surgery (OPUS), Single Port Incisionless Conventional Equipment-utilizing Surgery (SPICES), Single Access Site Surgical Endoscope (SASSE) procedures.

[0003] The subject systems, devices and methods can also advantageously be applied to various nonmedical fields, such as to those including industrial robots, remotely operated vehicles (such as in outer space or deep-sea, including oil and gas exploration), and particularly advantageously to fields where precise control for performing complex tasks in confined and / or difficult-to-reach structures, such as within long conduits, or where access requires navigation around or through existing structures, including curved structures.323196255V1 1Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCBACKGROUND OF THE INVENTION

[0004] Minimally invasive surgical procedures such as endoluminal surgery and single-site laparoscopic surgery are known in the art and provide many benefits over traditional open or multi-port laparoscopic surgical procedures. Endoluminal surgical procedures are performed endoscopically within hollow organs using typical surgical techniques, such as dissection, suturing, cutting, and stapling. These procedures may be performed trans-orally within the upper gastrointestinal (Gl) tract, transanally within the lower Gl tract, or transvaginally within the abdominal cavity.

[0005] Endoluminal surgery is beneficial in that no skin incision is required to gain access to the surgical site within a patient's natural lumen. This can dramatically reduce patient recovery time and can improve procedural safety. Single-site or single incision laparoscopic surgical procedures are typically performed within a patient's abdominal cavity or thoracic cavity through a single incision. This approach can reduce patient recovery time and trauma since multiple incisions are not required to access the patient's abdominal or thoracic cavity, and incisional location is more flexible.

[0006] Robotic surgical systems are also known in the art and have been used to perform both endoluminal and single-site surgical procedures. An example of such a system is disclosed, for example, in commonly assigned U.S. Patent 12,138,001, which is incorporated herein by reference in its entirety. This flexible robotic system includes a patient cart with a multi-axis positioning system and employs a steerable overtube assembly having a plurality of working channels for introducing surgical devices to a surgical site. The overtube assembly is also described in detail in commonly assigned U.S. Patent 11,963,730, which is also incorporated herein by reference in its entirety.Exemplary surgical devices and end effectors or tools that can be introduced to a surgical site through a working channel of the steerable overtube assemblies are disclosed in commonly assigned U.S. Patent 12,186,007, the disclosure of which is incorporated herein by reference in its entirety.

[0007] Systems, devices and methods in accordance with the invention can also incorporate or utilize aspects of devices, systems and methods disclosed in the following patents, publications or applications, each of which is incorporated herein by reference in its entirety: U.S. Patent numbers 11,607,238, 11,419,691, 12,011,188, 12,193,770, 323196255V1 2Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC12,064,196, 12,433,708, and 12,144,571; U.S. Patent Application Publication numbers 2023 / 0363842, 2023 / 0210621, 2023 / 0248450, 2023 / 0285099, 2023 / 0248457, 2023 / 0355221, 2025 / 0228637, 2025 / 0186757, 2025 / 0281027, 2025 / 0041011, and 2025 / 0057610; International Patent Application Publication numbers WO2025 / 231305, and WO2025 / 231306; U.S. Patent Application numbers 18 / 790,627, 63 / 798,435, 63 / 804,414, 63 / 904,716, and 63 / 938,535; and International Patent Application number PCT / US25 / 40165.

[0008] Applicant recognizes a need in the art to precisely and reliably control a steerable overtube in robotic surgical procedures, as well as to provide a sterile barrier in an operating room or theatre in connection with a surgical robotic system. The present disclosure provides systems, devices, and methods that address these needs.SUMMARY OF THE INVENTION

[0009] The purposes and advantages of the below-described illustrated embodiments will be set forth in and apparent from the description that follows. Additional advantages of the illustrated embodiments will be realized and attained by the devices, systems and methods particularly pointed out in the written description and claims hereof, as well as from the appended drawings.

[0010] In accordance with the present invention, devices, systems, and methods are provided that enhance the efficacy, accuracy, and reliability of control of surgical robotic systems, and maintain a sterile field during a surgical procedure, enabling even more favorable surgical outcomes than with prior devices, systems, and methods.

[0011] In accordance with one aspect of the present invention, a robotic surgical system for manipulating a steerable overtube comprises an operator control adapted to receive movement input from an operator, a robotic overtube controller having a first drive assembly configured to drive bending motion of the steerable overtube in first and second opposing directions, a second drive assembly configured to drive bending motion of the steerable overtube in third and fourth opposing directions, and a system controller in communication with the operator control and the robotic overtube controller. The system controller is adapted to receive the movement input from the operator control, translate the movement input to control output, and send the control output to the robotic overtube controller.323196255V1 3Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0012] The first drive assembly can include a first rotatable coupler, adapted and configured to engage a first driven portion of the steerable overtube, and a first actuator operatively connected to the first rotatable coupler and configured to effect rotary motion of the first rotatable coupler. Similarly, the second drive assembly can include a second rotatable coupler, adapted and configured to engage a second driven portion of the steerable overtube, and a second actuator operatively connected to the second rotatable coupler and configured to effect rotary motion of the second rotatable coupler. Rotary motion of each of the first and second rotatable couplers can be transmitted coaxially to cause corresponding rotation of the first driven portion and the second driven portion of the steerable overtube, respectively. The first actuator and a second actuator can be positioned in parallel with respect to one another. The first actuator and the second actuator can be arranged coaxially with respect to one another and positioned on the same side of the first rotatable coupler and the second rotatable coupler, respectively.

[0013] The system controller can be adapted and configured to translate the movement input to control output, proportionally to a scaling ratio. The scaling ratio can be selectable by the operator. The scaling ratio can be preselected and programmed in the system controller. The system controller can be configured to map a magnitude of movement of the operator control to a degree of rotary motion of the first and second rotatable couplers. The system controller can be configured to map a degree of rotary motion of the first and second rotatable couplers to a degree of bending of the steerable overtube. The system controller can be adapted and configured to receive position feedback from the robotic overtube controller of respective rotational positions of the first rotatable coupler and the second rotatable coupler. The system controller can be adapted and configured to receive position feedback from the robotic overtube controller of respective axial positions of each of the first rotatable coupler and the second rotatable coupler. The system controller can be adapted and configured to determine an engagement status of each of the first and second rotatable couplers with the first and second driven portions of the steerable overtube, respectively, based on the axial position of each of the first rotatable coupler and the second rotatable coupler. The robotic surgical systems can include an engagement detector adapted and configure to signal engagement of a body of the steerable overtube with the robotic overtube controller, the system controller being adapted and configured to receive an engagement signal from the engagement detector.323196255V1 4Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0014] In accordance with one aspect, if engagement of the body of the steerable overtube with the robotic overtube controller is detected but full engagement is not detected between the first or second rotatable coupler and the first or second driven portion of the steerable overtube, the system controller sends a control output, respectively, to the first or second drive assembly, to rotate until full engagement is detected.

[0015] The system controller can be adapted and configured to determine a degree of bending in each of a plurality of directions of the steerable overtube, based on the rotational position of each of the first and second rotatable couplers when fully engaged with the first and second driven portions of the steerable overtube, respectively.

[0016] Axial translation of the steerable overtube can be effected by corresponding movement of a supportive structure of the robotic overtube controller. Similarly, axial rotation of the steerable overtube can be effected by corresponding movement of a supportive structure of the robotic overtube controller. The subject systems can further include a presence detector configured to detect presence of a sterile drape adapter. Furthermore, all optional features described below can be included with the system.

[0017] In accordance with a further aspect of the present invention, a method of robotically manipulating a steerable overtube includes receiving a movement input from an operator control, translating the movement input to a control output, and sending the control output to a robotic overtube controller. The control output includes a command to actuate a first drive assembly to drive bending motion of the steerable overtube in first or second opposing directions, and a command to actuate a second drive assembly to drive bending motion of the steerable overtube in third or fourth opposing directions.

[0018] The translating step can include applying a scaling ratio to the movement input to determine the control output. The translating step can include mapping a magnitude of movement of the operator control to a degree of rotary motion of the first and second rotatable couplers.

[0019] The method can further include the steps of detecting engagement of the steerable overtube with the robotic overtube controller;, detecting an axial position of at least one rotatable coupler of the robotic overtube controller;, initiating an alignment process if the at least one rotatable coupler is not fully engaged with a corresponding driven portion of the steerable overtube, the alignment process comprising rotating the at least one323196255V1 5Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCrotatable coupler, detecting engagement of at least one rotatable coupler with the corresponding driven portion of the steerable overtube, and terminating the alignment process. All optional features described above and below can be additionally included with the method.

[0020] In accordance with a still further aspect of the present invention, a non-transitory computer readable medium includes computer executable instruction configured to cause a computer to receive a movement input from an operator control, translate the movement input to a control output, and send the control output to a robotic overtube controller. The control output includes a command to actuate a first drive assembly to drive bending motion of a steerable overtube in first or second opposing directions, and a command to actuate a second drive assembly to drive bending motion of the steerable overtube in third or fourth opposing directions. All optional features described above and below can be additionally included with the non-transitory computer readable medium.

[0021] In accordance with yet another aspect of the present invention, a robotic overtube controller for a robotic surgical system includes a first drive assembly configured to drive bending motion of the steerable overtube in first and second opposing directions. The first drive assembly has a first rotatable coupler, adapted and configured to engage a first driven portion of the steerable overtube; and a first actuator operatively connected to the first rotatable coupler and configured to effect rotary motion of the first rotatable coupler. The system also includes a second drive assembly configured to drive bending motion of the steerable overtube in third and fourth opposing directions the second drive assembly. The second drive assembly includes a second rotatable coupler, adapted and configured to engage a second driven portion of the steerable overtube, and a second actuator operatively connected to the second rotatable coupler and configured to effect rotary motion of the second rotatable coupler. All optional features described above and below can be additionally included with the robotic overtube controller.

[0022] In accordance with the invention, the first and second directions can be coplanar bending directions within a first plane. Similarly, the third and fourth directions can be coplanar bending directions within a second plane.

[0023] In accordance with another aspect of the present invention, a robotic overtube controller for a robotic surgical system includes a first drive assembly for actuating a steerable overtube, the first drive assembly having a first actuator operatively connected323196255V1 6Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCwith a first coupler adapted and configured to engage a first drive interface of the steerable overtube, at least one latch provided on the robotic overtube controller and configured to engage a corresponding catch of the steerable overtube to at least partly secure the steerable overtube to the robotic overtube controller, and at least one alignment feature provided on the robotic overtube controller and configured to engage a corresponding feature of the steerable overtube to aid alignment of the steerable overtube with the robotic overtube controller.

[0024] The at least one alignment feature can allow rotation of the steerable overtube thereabout. The at least one alignment feature can be a pin. The at least one alignment feature can inhibit rotation of the steerable overtube thereabout. The at least one alignment feature can be a block. The at least one alignment feature can include a cruciform cross-section, as viewed from the direction of insertion of the steerable overtube onto the robotic overtube controller. The at least one alignment feature can be configured to extend through an aperture provided in a sterile drape adapter, adapted for attachment to the robotic overtube controller. The at least one alignment feature can be arranged near a distal end of an engagement region between the robotic controller and the steerable overtube. The at least one alignment feature can be arranged near a distal end of an engagement region between the robotic controller and the steerable overtube. The at least one alignment feature can be arranged in a central portion of an engagement region between the robotic controller and the steerable overtube.

[0025] The at least one latch can include a latch adapted to engage a proximal end portion of the steerable overtube. The at least one latch can include a latch adapted to engage a central portion of the steerable overtube. The at least one latch can include a pair of latches adapted to cooperatively engage a catch provided on the steerable overtube. Each latch of the pair of latches can be oriented facing the other latch of the pair of latches. A latch release mechanism can be included, and configured to simultaneously release all latches engaging the steerable overtube with the robotic overtube controller. The latch release mechanism can include a pair of cam surfaces, adapted to move a pair of latches laterally outward to release the steerable overtube from the robotic overtube controller. At least one latch can be configured to extend through an aperture provided in a sterile drape adapter configured for attachment to the robotic overtube controller. In accordance with the invention, the first coupler can function as an alignment feature.323196255V1 7Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0026] The robotic overtube controller can further include a sterile drape adapter connected thereto, the sterile drape adapter having an upward wall extending from a body thereof, the upward wall functioning as an alignment feature.

[0027] In accordance with another aspect of the present invention, a sterile drape adapter for a robotic overtube controller for a steerable overtube includes a body defining an upper surface configured to couple with at least a portion of a robotic steering interface of the steerable overtube, a lower surface configured to couple with at least a portion of an actuation surface of the robotic overtube controller to create a sterile barrier therebetween, and a first wall extending downwardly from the lower surface of the body, a fitting mechanism extending from the first wall and configured to engage with at least a portion of the robotic overtube controller, and a coupling aperture defined in the body, extending between the upper surface and the lower surface thereof, configured to permit mechanical actuation from the actuation surface to the robotic steering interface.

[0028] The fitting mechanism can include one or more resilient clips extending from the first wall, the resilient clips adapted and configured to snap or slide onto one or more corresponding engagement features formed on the robotic overtube controller. The corresponding engagement features can be one or more protrusions. The protrusions can be one or more longitudinal ribs defined along an outer surface of the robotic overtube controller.

[0029] The sterile drape adapter can further include at least one presence detection aperture defined within the body, the at least one aperture configured to allow at least one controller presence detector of the robotic overtube controller to pass therethrough.

[0030] The sterile drape adapter can have at least one aperture defined therein, wherein the second wall extends upwardly from the body at a position between the at least one aperture and an outer peripheral edge of the body. The first wall can be adapted and configured to engage a periphery of a portion of a steerable overtube.

[0031] The sterile drape adapter can further include at least one latch aperture defined within the body, the at least one aperture configured to allow at least one latch of the robotic controller to pass therethrough, the latch adapted and configured to engage with the robotic steering interface of the steerable overtube.

[0032] The sterile drape adapter can further include a second wall extending upwardly from the upper surface of the body, about a periphery of the body of the sterile drape323196255V1 8Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCadapter. The first wall can extend downwardly from the lower surface of the body, and can be adapted and configured to engage about a periphery of the robotic overtube controller. The fitting mechanism can include a concave engagement feature on an inner surface thereof.

[0033] The sterile drape adapter can further include a sterile drape attached thereto, attached along an outer periphery of the drape adapter. The sterile drape can be attached to the sterile drape adapter by heat welding, fusing, gluing, taping, or clamping.Alternatively, the sterile drape can be integrally formed with the drape adapter.

[0034] The sterile drape adapter can further include an alignment tab extending downwardly from the body, adapted to be received within an alignment slot defined in the actuation surface of the robotic overtube controller.

[0035] The sterile drape adapter can further include an adapter presence detection feature adapted and configured to engage a corresponding controller presence detector of the robotic overtube controller. The adapter presence detection feature can be a protrusion adapted to engage the corresponding controller presence detector, and wherein the corresponding controller presence detector is a push switch. Alternatively, the adapter presence detection feature can be a protrusion adapted to be detected by an optical sensor provided on the robotic overtube controller.

[0036] In accordance with a further aspect of the present invention, a sterile drape assembly for a robotic overtube controller for a steerable overtube includes a body defining an upper surface configured to couple with at least a portion of a robotic steering interface of the steerable overtube, a lower surface configured to couple with at least a portion of an actuation surface of the robotic overtube controller to create a sterile barrier therebetween, and a first wall extending downwardly from the lower surface of the body;, a fitting mechanism extending from the first wall and configured to engage with at least a portion of the robotic overtube controller, a coupling aperture defined in the body, extending between the upper surface and the lower surface thereof, configured to permit mechanical actuation from the actuation surface to the robotic steering interface, and a sterile drape attached to the sterile drape adapter along an outer periphery thereof. The sterile drape can be shaped to complement an outer form of at least a portion of the robotic overtube controller.323196255V1 9Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0037] The fitting mechanism can include magnets adapted to engage a corresponding magnetic or ferrous component in the robotic overtube controller. The fitting mechanism can include releasable adhesive. The plurality of engagement features include a threaded connection adapted to engage a corresponding threaded portion of the robotic overtube controller. The second wall can include at least one discontinuity portion to accommodate an engagement latch extending upwardly from the robotic controller. The alignment tab can be provided on the body of the sterile drape adapter, at a proximal end thereof. The adapter presence detection feature can be a magnet adapted to interact with a hall-effect sensor provided on the robotic overtube controller.

[0038] In accordance with a further aspect of the present invention, a presence detection system for a surgical robot includes a first portion provided on the surgical robot having an electrically open electrical detection circuit operatively connected to a system controller, the system controller detecting electrical closure of the electrical detection circuit, and a second portion provided on a removable accessory for the surgical robot, the second portion adapted and configured to electrically close the electrical detection circuit when the accessory is correctly positioned in a designated position on the surgical robot.

[0039] The second portion can include an electrically conductive element. The electrically conductive element can be a planar element configured to bridge a gap in the electrical detection circuit by contacting distal ends of two or more electrical contacts of the first portion. The electrically conductive element of the second portion can be adapted and configured to be interposed between the two or more electrical contacts of the first portion, when the second portion is in the designated position.

[0040] Alternatively, or additionally, the second portion can be adapted and configured to urge movable contacts of the electrical detection circuit into mutual contact. The second portion can include one or more cam surfaces adapted and configured to capture, and urge together, the movable contacts of the electrical detection circuit as the second portion is moved toward the designated position, and to maintain contact between the movable contacts when the second portion is in the designated position.

[0041] Alternatively or additionally, the first portion can include an electrically conductive latch adapted and configured to engage and retain an electrically conductive catch of the second portion. The first portion can include a latch release button to disengage the electrically conductive latch from the electrically conductive catch. All optional features323196255V1 10Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCdescribed above and below can be additionally included with the presence detection system.

[0042] In accordance with another aspect of the present invention, a sterile drape adapter for a robotic overtube controller for a steerable overtube, the sterile drape adapter comprises a body defining an upper surface configured to couple with at least a portion of a robotic steering interface of the steerable overtube, a lower surface configured to couple with at least a portion of an actuation surface of the robotic overtube controller to create a sterile barrier therebetween, and a first wall extending downwardly from the lower surface of the body, a fitting mechanism extending from the first wall and configured to engage with at least a portion of the robotic overtube controller, a coupling aperture defined in the body, extending between the upper surface and the lower surface thereof, configured to permit mechanical actuation from the actuation surface to the robotic steering interface, and an adapter presence detection feature adapted and configured to engage a corresponding controller presence detector of the robotic overtube controller, wherein the adapter presence detection feature is an electrically conductive element provided on the sterile drape adapter, adapted to engage a plurality of electrical contacts provided on the robotic overtube controller to close a detection circuit.

[0043] Moreover, the adapter presence detection feature can be a metal insert molded into the sterile drape adapter. The adapter presence detection feature can be a foil tape applied to a portion of the sterile drape adapter. All optional features described above and below can be additionally included with the sterile drape adapter.

[0044] In accordance with still another aspect of the present invention, a sterile drape adapter for a robotic overtube controller for a steerable overtube, includes a body defining an upper surface configured to couple with at least a portion of a robotic steering interface of the steerable overtube, a lower surface configured to couple with at least a portion of an actuation surface of the robotic overtube controller to create a sterile barrier therebetween, and a first wall extending downwardly from the lower surface of the body, a fitting mechanism extending from the first wall and configured to engage with at least a portion of the robotic overtube controller, and a coupling aperture defined in the body, extending between the upper surface and the lower surface thereof, configured to permit mechanical actuation from the actuation surface to the robotic steering interface.323196255V1 11Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0045] The sterile drape adapter can further include a second wall extending upwardly from the upper surface of the body, about a periphery of the body of the sterile drape adapter. The second wall can include a seal on the upper portion thereof, adapted and configured to seal against a portion of a steerable overtube. Alternatively or additionally, a seal can be provided on the upper surface of the substantially planar body, within the second wall, adapted and configured to seal against a portion of a steerable overtube.

[0046] The sterile drape adapter can further include a sterile removable protector releasably secured thereto, adapted to cover a substantial portion of any apertures defined within the body of the sterile drape adapter. The sterile removable protector can be adapted to be reapplied to the sterile drape adapter following removal therefrom.

[0047] All optional features described above and below can be additionally included with the systems, devices, and methods of the present invention, including the robotic overtube controller, the sterile drape adapter, and / or the sterile drape assembly.323196255V1 12Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCBRIEF DESCRIPTION OF DRAWINGS

[0048] To enable those skilled in the art to which the subject disclosure appertains to readily understand how to make and use the devices, systems, and methods of the subject disclosure without undue experimentation, embodiments thereof will be described in detail herein below with reference to certain figures, wherein:

[0049] Figure 1 is a schematic view of an example embodiment of a robotic surgical system in accordance with the invention;

[0050] Figure 2 is an isometric view of an example embodiment of a physician console of robotic surgical systems in accordance with the invention;

[0051] Figure 3 is an isometric view of an example embodiment of a patient cart of robotic surgical systems in accordance with the invention;

[0052] Figure 4 is an isometric view of an example embodiment of a steerable overtube of robotic surgical systems in accordance with the invention;

[0053] Figure 5 is a bottom view of the steerable overtube of Figure 4;

[0054] Figure 6 is an isometric view of a catch of the steerable overtube of Figure 4, for engaging a latch of a robotic overtube controller;

[0055] Figure 7 is an isometric view of one embodiment of a robotic overtube controller for a steerable overtube, in accordance with the present invention;

[0056] Figure 8 is an isometric view of the robotic overtube controller of Figure 7 illustrating a sterile drape adapter installed thereon, with a protective sterile film thereon (surrounding drape material not shown for clarity);

[0057] Figure 9 is an isometric view of the robotic overtube controller with sterile drape adapter of Figure 8, with the protective sterile film removed therefrom;

[0058] Figure 10 is an isometric view of the robotic overtube controller with sterile drape adapter of Figure 9, with a steerable overtube attached thereto;

[0059] Figure 11 is a cross-sectional view of the robotic overtube controller, sterile drape adapter and steerable overtube, taken across a central axis thereof;

[0060] Figure 12 is a detail cross sectional view of the robotic overtube controller, sterile drape adapter and steerable overtube;

[0061] Figure 13A is an isometric view of the robotic overtube controller with outer coverings removed, but attached to a supporting structure of the system;323196255V1 13Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0062] Figure 13B is an isometric view of the robotic overtube controller removed from the su porting structure of the system, for clarity;

[0063] Figure 14 is an isometric view of an alternative embodiment of a robotic overtube controller in accordance with the present invention, shoring axially aligned motors, removed from the supporting structure of the system, for clarity;

[0064] Figure 15A illustrates one embodiment of a resilient drive dog of robotic overtube controllers in accordance with the invention, in an upper or extended position where a position detecting light beam from an emitter passes under the drive dog and is detected by a detector;

[0065] Figure 15B illustrates the drive dog of Figure 15A, in a lower or compressed position where a position detecting light beam from an emitter is blocked by the drive dog and is not detected by a detector;

[0066] Figure 15C is a schematic illustration showing an alternative embodiment of drive dog detection wherein the drive dog has three positions which are differentiated by the subject system;

[0067] Figure 15D is a schematic illustrating a control signal output by a detector, indicating passage or blocking of a light beam, indicating a vertical position of a respective drive dog to a system controller;

[0068] Figure 15E is a diagram illustrating a control signal output by a detector with respect to a vertical position of a drive dog, in accordance with one example embodiment of the invention, as illustrated in Figures 15C and 15D;

[0069] Figure 16 is an exploded view of an example embodiment of a drive dog assembly in accordance with the invention;

[0070] Figure 17 is an isometric view of an example embodiment of a latch mechanism for robotic overtube controllers in accordance with the present invention, including proximal end and distal lateral latches and a release mechanism;

[0071] Figure 18 is a bottom view of the latch mechanism of Figure 17;

[0072] Figure 19 is a partial front isometric view of alternate embodiments of a steerable overtube and robotic overtube controller including a threaded connection with thumbscrew for securing the steerable overtube to the robotic overtube controller;

[0073] Figure 20A is an isometric view illustrating pre-engagement of a steerable overtube with sterile drape adapter and robotic overtube controllers in accordance with a further323196255V1 14Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCexample embodiment of the invention, in which a movable internal plunger in the sterile drape adapter, when aligned, causes mechanical engagement between the sterile drape adapter and the robotic overtube controller (surrounding drape material not shown for clarity);

[0074] Figure 20B is a cross-sectional view of the arrangement of Figure 20A prior to alignment and full engagement;

[0075] Figure 20C is a cross-sectional view of the arrangement of Figure 20A following alignment and full engagement;

[0076] Figure 20D is an isometric view of a rotatable insert of the sterile drape adapter of the Figure 20A;

[0077] Figure 20E is an isometric view of the movable internal plunger of the sterile drape adapter of the Figure 20A;

[0078] Figure 21A is an isometric view of a robotic overtube controller in accordance with the invention with sterile drape adapter and drive dogs having an alternate alignment configuration to aid alignment and connection of a steerable overtube therewith (surrounding drape material not shown for clarity);

[0079] Figure 21B is a top view of drive dogs of the robotic overtube controller of Figure 21 A;

[0080] Figure 21C is a bottom isometric view of a hub portion of a steerable overtube adapted for use with the drive dogs of Figures 21A and 21B;

[0081] Figure 22 is a top front (distal end) isometric view of an alternate example embodiment of a sterile drape adapter for robotic overtube controllers in accordance with the present invention (surrounding drape material not shown for clarity);

[0082] Figure 23 is a bottom rear (proximal end) isometric view of the sterile drape adapter of Figure 22;

[0083] Figure 24 is a side view of the sterile drape adapter of Figure 22;

[0084] Figure 25 is a rear (proximal) end view of the sterile drape adapter of Figure 22;

[0085] Figure 26 is a front (distal) end view of the sterile drape adapter of Figure 22;

[0086] Figure 27 is an isometric view of a second alternate example embodiment of a sterile drape adapter for robotic overtube controllers in accordance with the present invention, illustrating a variation of the form of locking tabs to allow more flexibility thereof, and additionally illustrating an alternative arrangement of internal apertures as323196255V1 15Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCcompared with the embodiment of Figure 22 (surrounding drape material not shown for clarity);

[0087] Figure 28 is an isometric view of a third alternate example embodiment of a sterile drape adapter for robotic overtube controllers in accordance with the present invention, illustrating an alternative connection arrangement for connecting to a robotic overtube controller, as compared with the embodiments of Figure 22 and Figure 27 (surrounding drape material not shown for clarity);

[0088] Figure 29 is an isometric view of a fourth alternate example embodiment of a sterile drape adapter for robotic overtube controllers in accordance with the present invention, illustrating an alternative connection arrangement for connecting to a robotic overtube controller, as compared with the embodiments of Figure 22, Figure 27 and Figure 28 (surrounding drape material not shown for clarity);

[0089] Figure 30 is a detail side view illustrating the sterile drape adapter of Figure 22 securely connected to a robotic overtube controller in accordance with the invention by way of engagement with an engagement feature thereof;

[0090] Figure 31 is a cross-sectional view illustrating the sterile drape adapter of Figure 22 securely connected a robotic overtube controller in accordance with the invention by way of engagement with an engagement feature thereof;

[0091] Figure 32A is a detail isometric view of a sterile drape adapter in accordance with the invention including a sealing material for sealing between the sterile drape adapter and a steerable overtube on an interior surface of the sterile drape adapter (surrounding drape material not shown for clarity);

[0092] Figure 32B is a detail cross sectional view of the sterile drape adapter of Figure 32A, sealed against a steerable overtube;

[0093] Figure 33A is an isometric view of a sterile drape adapter in accordance with the invention including a sealing material for sealing between the sterile drape adapter and a steerable overtube on an upper portion of the sterile drape adapter (surrounding drape material not shown for clarity);

[0094] Figure 33B is a detail isomeric view of the sterile drape adapter of Figure 33A;

[0095] Figure 33C is a cross-sectional view of the sterile drape adapter of Figure 33A, sealed against a steerable overtube;323196255V1 16Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0096] Figure 34 is an isometric view of the sterile drape adapter of Figure 22 including a first embodiment of a protective, sterile film thereon, as well as the sterile film removed therefrom (surrounding drape material not shown for clarity);

[0097] Figure 35 is an isometric view of a two-part sterile protector for a sterile drape adapter in accordance with the invention;

[0098] Figure 36 is an isometric view of an alternative embodiment of a robotic overtube controller in accordance with the present invention for use in conjunction of a sterile drape adapter, as shown in Figures 37A-37C;

[0099] Figure 37A is a front top isometric view of an example embodiment of a sterile drape adapter for surgical robots in accordance with the present invention in which no mechanical elements of the robotic overtube controller extend through the adapter (surrounding drape material not shown for clarity);

[0100] Figure 37B is a bottom front isometric view of the sterile drape adapter of Figure 37A;

[0101] Figure 37C is a top view of the sterile drape adapter of Figure 37A, including an alignment device to maintain moveable components in a predetermined position priorto and during attachment to the robotic overtube controller;

[0102] Figure 38A is a front top isometric view of an alternate example embodiment of a sterile drape adapter in accordance with the invention, for use with separate sterile caps of Figure 38B (surrounding drape material not shown for clarity);

[0103] Figure 38B includes isometric views of drive dogs and removable sterile caps for use with the sterile drape adapter of Figure 38A;

[0104] Figure 38C is an isometric detail view of the sterile drape adapter of Figure 38A and sterile caps of Figure 38B;

[0105] Figure 39A is a top front isometric view of a sterile drape adapter in accordance with a further example embodiment of the invention, wherein the sterile drape adapter includes a peripheral frame with large central opening for use with a sterilizable adapter plate (drape material not illustrated for clarity);

[0106] Figure 39B is a bottom front isometric view of the sterile drape adapter of Figure 39A;323196255V1 17Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0107] Figure 40A is a top front isometric view of a sterilizable adapter plate for use with robotic overtube controllers of the present invention, and the sterile drape adapter of Figure 39 A;

[0108] Figure 40B is a bottom isometric view of the sterilizable adapter plate of Figure 40A;

[0109] Figure 40C is a side cross-sectional view of the sterilizable adapter plate of Figure 40A;

[0110] Figure 41 illustrates a surgical drape assembly, including a sterile drape adapter in accordance with the present invention;

[0111] Figure 42A is an isometric detail view of one example embodiment of presence sensors for robotic overtube controllers in accordance with the invention, shown in a default or idle position;

[0112] Figure 42B is an isometric detail view of the presence sensors of Figure 42A, shown with a sterile drape adapter attached, leaving a presence sensor for a steerable overtube accessible to detect installation thereof;

[0113] Figure 42C is a cross-sectional detail view of the presence sensors of Figure 42A, shown with a sterile drape adapter and steerable overtube attached thereto;

[0114] Figure 43A is an isometric view of an alternative embodiment of a presence detector, including a conductive element, such as a metal insert, for engaging with resilient electrical contacts, shown prior to engagement therewith;

[0115] Figure 43B is a side cross-sectional view of the presence detector of Figure 43A in a fully seated position;

[0116] Figure 44A is an isometric view of an additional alternative embodiment of a presence detector, including a conductive element, such as a metal insert, for engaging with externally sprung electrical contactsjwhich additionally serve to physically engage the two components, shown prior to engagement therewith;

[0117] Figure 44B is a side view of the presence detector of Figure 44A in a fully seated position;

[0118] Figure 44C is a detail view showing the components of the presence detector of Figure 44A in a fully seated position;

[0119] Figure 44D is a top view of the presence detector of Figure 44A illustrating a release pusher for disengaging the components from one another;323196255V1 18Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0120] Figure 45A is an isometric view of a further alternative embodiment of a presence detector, including a conductive element, such as a metal insert, for making contact with electrical contacts, shown prior to engagement therewith;

[0121] Figure 45B is a side view showing the components of the presence detector of Figure 45A in a fully seated position;

[0122] Figure 46A is an isometric view of still a further alternative embodiment of a presence detector including a cam surface to urge contacts of the detector into mutual electrical contact, shown prior to engagement therewith; and

[0123] Figure 46B is a side view showing the components of the presence detector of Figure 46A in a fully seated position.323196255V1 19Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCDETAILED DESCRIPTION OF THE INVENTION

[0124] Reference will now be made to the drawings wherein like reference numerals identify similar structural features or aspects of the subject disclosure.Robotic Surgical System Overview

[0125] For purposes of explanation and illustration, and not limitation, a schematic diagram of an exemplary embodiment of a robotic surgical system 100 in accordance with the invention is illustrated in Figure 1, along with certain devices. Included with the system 100 are a patient cart 110, including a steerable overtube 140 attached thereto, a physician console 120, including two hand control devices 121a, 121b, one or more foot controls 123 and a display screen 125, an optional patient bed 180 and one or more optional ancillary equipment carts, such as vision tower 190.

[0126] In accordance with the illustrated embodiment, a system cable 1 is provided to connect and facilitate data transfer between the physician console 120 and patient cart 110, while electrical power is provided separately by respective power cables 10 and 6. The system cable 1 enables bidirectional communication by transferring control signals to the patient cart 110 and video data to the physician console. One or more video cable(s) 2 can be provided for one or more accessory display(s). Image data is transferred from a videoscope by videoscope cable 7 to the patient cart 110. A camera control unit can also be provided if needed to support operation of the videoscope and signal transmission therefrom.

[0127] Ancillary surgical equipment can be provided, such as a surgical insufflator 3, and connected to one or more ports provided on the steerable overtube 140 by insufflation tubing 8. Further, an electrosurgical unit 4 can be provided and controlled by way of an energy activation cable 5 to the patient cart 110 for pass-through control from the physician console 120, while also connecting to an electrosurgical robotic instrument by way of an instrument cable 9. Additional items, including anesthesia equipment 11 and one or more sterile tables 12 can be provided. The sterile table(s) 12 can hold accessories, components, or instruments for the subject system 100.

[0128] Additionally illustrated are a physician or operator 21 seated at the physician console 120, an assistant 22, which can be a sterile assistant tasked primarily with monitoring the patient cart 110, handling accessories and removing and installing323196255V1 20Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCinstruments, as needed, and a circulating assistant 23. Further medical professionals, such as an anesthesiologist, can also be present and interact with the system 100.Physician Console and Patient Cart

[0129] With reference now to Figure 2, an isometric view of an example embodiment of a physician console 120 of robotic surgical systems in accordance with the invention, including hand control devices 121a, 121b, one or more foot controls 123 and a display screen 125. Figure 3 is an isometric view of an example embodiment of a patient cart 110 of robotic surgical systems in accordance with the invention. A physician (surgeon) uses the controls of the physician console 120 to control different aspects of the system, including a manipulable endoscope, surgical instruments, and a steerable overtube 140, which is an access port through which robotic surgical instruments of the subject systems pass to reach a surgical site. The steerable overtube 140 is connected to a robotic overtube controller 170, which receives commands from a system controller 150. System controller functions can be distributed across multiple controllers housed respectively in different components.Steerable Overtube

[0130] As illustrated in Figures 4 and 5, a steerable overtube 140 of the subject robotic surgical systems include a hub 410 for interfacing the steerable overtube with a surgical robot, and for inserting instruments and other accessories, as well as manual control handles 411 for operating the bending of the steerable portion 441 thereof when not engaged with the surgical robot. As embodied in this exemplary embodiment, a flexible portion 443 is provided between the hub 410 at the proximal end portion of the steerable overtube 140 and the distal end of the steerable portion 441 thereof.

[0131] The hub 410 has manual control handles 411 on its upper surface, along with ports for introducing surgical instruments and other functional surgical devices, such as irrigation supplies, suction supplies, smoke removal equipment, specimen retrieval tools, and the like. On its lower surface, various functional features are included for use in combination with a robotic overtube controller (which itself will be described in more detail below in connection with subsequent figures), such as first and second robotic actuator engagement portions or interfaces 440a, 440b for engaging corresponding elements of the robotic323196255V1 21Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCovertube controller. The hub 410 also includes a first or central catch 480, as well as a second or proximal end catch 481 for engaging corresponding latches of the robotic overtube controller. The configuration of the central catch 480 is shown in more detail in Figure 6. The latches and catches in conjunction with various alignment features secure and align the steerable overtube 140 to the robotic overtube controller 170.

[0132] As shown in Figure 5, the hub 410 includes a first alignment feature 460 located proximal to the center, and a second alignment feature 470 located distal to the center of the hub 410. As illustrated, these features are a round substantially cylindrical recess and a substantially rectangular recess, respectively. However, it should be understood that the precise configuration of these alignment features, 460, 470 and corresponding alignment features of the robotic overtube controller can vary as desired.Robotic Overtube Controller, Attachment of Steerable Overtube and Sterile Drape Adapter

[0133] Figures 7-10 illustrate sequential steps for installing a steerable overtube 140 on a robotic overtube controller 170 in accordance with an exemplary aspect of the present invention. The steps include first attaching a sterile drape adapter 800 (in this example, a drape plate), along with a drape material affixed thereto, to ensure a sterile operating environment. This step is illustrated in Figure 8. For clarity, the drape material itself is not illustrated. Thereafter, if so embodied, a sterile removable barrier 870 is removed from the sterile drape adapter 800 to reveal functional components of the robotic overtube controller 170 for interfacing with complementary components of the hub 410. Figure 9 illustrates the robotic overtube controller 170 and sterile drape adapter 800 prior to connection with the hub 410 of the steerable overtube 140. The steerable overtube 140 is then attached to the robotic overtube controller 170, engaging the first and second alignment features T2.S 1 and first and second latches 731, 732 (including laterally arranged latches 732a and 732b) of the robotic overtube controller 170.

[0134] As best seen in Figure 7, the robotic overtube controller 170 includes first and second lateral case portions 710a, 710b and upper case portion 710c or "skins" enclosing much of the componentry of the robotic overtube controller 170 and providing an aesthetically pleasing appearance.

[0135] Provided on the robotic overtube controller 170 are engagement and alignment features for attaching the sterile drape adapter 800, including a proximal slot 723 and323196255V1 22Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PClateral engagement features 721, which include a longitudinal protrusion on each lateral upper edge of the robotic overtube controller 170 to engage with corresponding features of the sterile drape adapter 800, to allow the sterile drape adapter 800 to be securely yet removably affixed thereto.

[0136] Alternatively or additionally, adhesive and / or magnetic connections can be provided. For example, a repositionable adhesive can be disposed on the lower surface of the sterile drape adapter 800. If so embodied, one or more permanent magnets can be provided on the sterile drape adapter 800 to interact with a ferrous or magnetic elements on the robotic overtube controller 170, or vice versa. Alternatively still, one or more electromagnets can be provided in connection with the robotic overtube controller to interact with a corresponding ferrous or magnetic element provided on the sterile drape adapter 800 and / or the steerable overtube 140.

[0137] The robotic overtube controller 170 also includes a plurality of couplers or "drive dogs" 740a, 740b for securely engaging an interfacing portion of the steerable overtube. In the illustrated embodiment according to the invention, the drive dogs 740a, 740b are asymmetrical such that they can engage the steerable overtube 140 in only one orientation. That is, engagement protrusions or pins atop the drive dogs are arranged thereon in a rotationally asymmetric pattern. In the illustrated embodiment, the pins are positioned at different radial distances from the center of rotation of the drive dogs. The rotational position of the drive dogs 740a, 740b is fixed to an encoder (for example 1183a and 1183b), as will be described in further detail in connection with subsequent figures, so that the orientation of each of the drive dogs is known to the system controller 150. Once all required elements are installed, the drive dogs compress away from the steerable overtube until a homing function rotates the drive dogs to a position in alignment with the corresponding interface of the steerable overtube 140. At that time, the drive dogs move into engagement with those features, a signal is generated and provided to the system controller to indicate that that drive dog is now engaged. The position can be determined by the signal from the rotary encoder, and therefore, the degree of bending of the overtube 140 can be determined. In accordance with one aspect of the present invention, the degree of bending can then be graphically simulated and displayed on the display screen 125 to the physician.323196255V1 23Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0138] For the purposes of alignment and maintaining position of the steerable overtube 140 with the robotic overtube controller 170, first and second alignment features 725, 727 are provided on the controller 170. The first alignment feature 725 is provided centrally with respect to the hub 410 and is round to allow rotation when attaching the hub, enabling other elements to come into alignment and engage with corresponding elements. The second alignment feature 727 is configured to restrain lateral and longitudinal motion. In accordance with this embodiment, the second alignment feature 727 is substantially cruciform in plan view, but other configurations are possible. In accordance with a preferred aspect of the invention, the cruciform shape of the second alignment feature provides several benefits. Such shape not only restrains lateral and longitudinal motion but also offers greater stability and precision during the engagement process. The multiple contact points inherent in a cruciform design distribute forces more evenly, reducing the likelihood of misalignment or mechanical stress.

[0139] First and second latches 731, 732 (including lateral latch pawls 732a, 732b) engage corresponding catches 480, 481 of the overtube 140. The latches 731, 732a, 732b are resiliently maintained in their default position and deflect to allow engagement with the corresponding catches of the overtube 140. Further details of the latching mechanism will be described in more detail below in connection with other figures.

[0140] The robotic overtube controller 170 additionally includes one or more presence detection features to inform the system controller 150 when the sterile drape adapter 800 and / or the steerable overtube 140 and / or the hub 410 of the steerable overtube 140 are securely attached thereto. In the illustrated embodiment, first and second presence detectors 750a, 750b are provided to detect the presence of the overtube 140 and sterile drape adapter 800, respectively, and signal the system controller 150 that the required components have been installed. In the illustrated embodiment, the first presence detector 750a is a pin that is pressed down by a lower surface of the hub 410 of the overtube 140, while the second presence detector 750b is a pin that is pressed down by a corresponding feature of the sterile drape adapter 800, such as a corresponding protrusion. In conjunction with signals output by position sensors of the drive dogs 740a, 740b, as described further below, the system controller 150 can determine the state of engagement of all components, including drive dogs 740a, 740b, and therefore can command a homing or alignment function of the robotic overtube controller, to align with323196255V1 24Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCand fully engage the corresponding first and second robotic actuator engagement portions 440a, 440b on the hub 410 of the steerable overtube 140. Optionally, position detectors can be provided in connection with latches 731, 732 that also confirm complete engagement of the hub 410 with the robotic overtube controller 170.

[0141] Alternatively, the first and / or second presence detectors 750a, 750b can be optical or hall-effect sensors adapted to detect presence of a corresponding surface feature or magnet (respectively) provided on the sterile drape adapter 800 and / or on the hub 410 of the steerable overtube 140. A magnetic component provided on the sterile drape adapter 800, can advantageously serve both to attach the sterile drape adapter 800 to the robotic overtube controller 170 and signal its presence to the system 100, when a corresponding ferrous or magnetic element(s) for attachment, and magnetically-responsive sensor are provided on the robotic overtube controller 170.

[0142] When the hub 410 is aligned with the robotic overtube controller 170, the latches 731, 732 are also engaged therewith, an alignment process has been run, and the drive dogs 740a, 740b are fully engaged with the corresponding engagement portions 440a, 440b of the steerable overtube 140, the user(s) can proceed with further steps to prepare the robotic system, including adjusting videoscope or endoscope, inserting instruments through working channels of the steerable overtube 140, and the like.

[0143] Figure 8 illustrates the robotic overtube controller 170, with the sterile drape adapter 800 secured thereto by way of engagement between engagement features 721 of the robotic overtube controller 170 and engagement features 865 of the sterile drape adapter 800. The sterile drape adapter 800 includes a sterile removable barrier 870 preapplied thereto, which is subsequently removed prior to engagement of the overtube 140 with the robotic overtube controller 170. Figure 9 illustrates the sterile drape adapter 800, with the sterile removable barrier 870 removed therefrom. In this embodiment, the sterile removable barrier 870 is provided to maintain as much of the area as sterile as possible and remains on the sterile drape adapter 800 following draping of the surgical robotic system, until just prior to installation of the steerable overtube 140 on the robotic overtube controller 170. As there may be a significant amount of time delay between setup of an operating room (operating theatre) and the moment during a procedure when robotic control is needed, the sterile removable barrier 870 maintains a sterile outer surface on the draped surgical robot.323196255V1 25Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0144] As best seen in Figure 9, the sterile drape adapter 800 includes various apertures or cutouts to allow interaction between the robotic overtube controller 170 and the steerable overtube 140. Specifically, a first aperture 881 is provided for the proximal latch 731, a second aperture 883 is provided for the drive dogs 740a, 740b, which may also extend to encompass the first (central) alignment feature 725, a third aperture 885 is provided for a presence detector 750a for detecting presence of the steerable overtube 140, a fourth aperture 887 is provided for the distal lateral latches 732a and 732b, and a fifth aperture 889 is provided for a second (distal) alignment feature 727.

[0145] The sterile drape adapter includes a body portion 861, from which one or more upward walls 867 extend, and one or more downward walls 863 also extend. A cutaway region 882 is optionally defined in the distal end portion of the downward wall 863 to clear access to the latch release button 735. An alignment tab 864 (as best seen, e.g., in Figure 20) additionally extends downwardly from the body 861. A drape material attachment area 869 is provided on the sterile drape adapter 800, to which the body of a sterile drape material is secured by a suitable technique, depending on the material, including but not limited to heat, solvent or ultrasonic welding, adhesive, mechanical clamping, and the like. Figure 10 is an isometric view of the robotic overtube controller 170 with sterile drape adapter 800 and steerable overtube 140 attached thereto. Figures 11, 12, 13A and 13B illustrate various internal components of one embodiment of a robotic overtube controller 170 for a steerable overtube 140, in accordance with the invention, and therefore will be discussed together, unless referring to a specific figure. The cross-sectional views of Figures 11 and 12 show the sterile drape adapter 800 and hub 410 engaged with the robotic overtube controller 170, a first or proximal drive dog or coupler 740a is shown prior to engagement with the corresponding engagement portion 440a of the hub 410, while a second or distal drive dog or coupler 740b is shown following engagement with the corresponding engagement portion 440b of the hub 410. As can be appreciated, a central alignment pin 742 extends into a corresponding recess on the engagement portion 440a and remains centered as the first and second eccentric pins 744, 746 are rotated into engagement with the engagement portion 440a, at which point the drive dog is resiliently urged upward, as illustrated with second drive dog 740b.

[0146] The cross sectional view of Figure 11, taken along the central axis of the controller 170 divides also the robotic drive sub assembly 1180 along the center thereof, including323196255V1 26Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCthe subassembly frame 1189, first and second spur gears 188a and 188b, first and second rotary encoders 1183a and 1183b, couplers 1184a and 1184b, bearings 1186 and drive dogs 740a and 740b. Only the second actuator 1181b and associated worm gear 1187b are illustrated due to the cross-sectional view. The first actuator 1181a and first worm gear 1187a are seen in Figures 13A and 13B. In accordance with certain embodiments, the first and second actuators 1181a, 1181b are DC servo motors. Alternatively, the first and second actuators 1181a, 1181b can be stepper motors, or of an alternative suitable technology.

[0147] The robotic drive assembly 1180 includes drive dogs 740a and 740b held within respective housings 1185a and 1185b, and coaxial with a shaft, connecting a gear 1188a and 1188b and rotary encoder 1183a and 1183b. One or more couplers 1184a and 1184b can be used as needed. Due to the direct connection, the rotary encoder 1183a and 1183b rotational position corresponds directly to the rotational position of the drive dogs 740a and 740b. As embodied, the drive dog housings 1185a, 1185b are supported within the sub assembly frame 1189 and supporting frame 1191 by bearings 1186. The drive dog housings 1185a, 1185b assembly will be discussed in further detail in connection with subsequent figures.

[0148] With reference to Figure 14, there is illustrated an alternative embodiment of a robotic drive assembly 1400, in which drive dogs are aligned and centered, but in which actuators 1181a, 1181b are both arranged on the same side of the drive dogs 740a, 740b, coaxially with one another, along a common axis 1495. Such alternate arrangement allows for a more compact assembly, if needed.

[0149] With reference to Figure 12, interaction between the components of the hub 410 and robotic overtube controller 170 are seen in the detail cross-sectional view thereof. In particular, in addition to engagement details of the drive dogs 740a, 740b with corresponding engagement portions 440a, 440b of the steerable overtube 140, other alignment and engagement features are clearly shown. The first or central alignment feature 725 is shown received in the corresponding first alignment feature 460 of the hub 410. The second alignment feature 727 of the controller 170 is showing received in the second alignment feature 470 of the hub 410. The first and second presence detectors 750a, 750b are shown in a depressed state by engagement with the hub 410 and the presence detection feature 862 of the sterile drape adapter 800, respectively. The first and323196255V1 27Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCsecond presence detectors 750a, 750b can be of any form suitable, as described in connection with subsequent figures. In the Embodiment of figures 11-13B, the first and second presence detectors 750a, 750b are substantially cylindrical, resiliently supported and travel substantially vertically, triggering an attached switch. Alternative configurations are also conceived and will be discussed below.

[0150] The second latch 732b is shown engaging the central catch 480 of the hub 410, while the proximal first latch 731 is shown engaging the proximal catch 481 of the hub 410. The latches 731, 732a and 732b, as embodied, are held between the supporting frame 1191 and respective retaining plates 1231, 1232. As embodied, a release mechanism engages with a lower portion of the latches 731, 732a and 732b. The release mechanism 1390 can be seen in relation to the other components of the robotic overtube controller in Figure 13B, which shows the components without the supporting frame 1191.

[0151] With reference to Figures 13B and 15A-E and 16, the vertical position of the drive dogs 740a and 740b can be detected optically using pairs of emitters 1381a, and 1381b and detectors 1383a and 1383b, the positioning of which is shown in Figure 13B. As best seen in Figures 15A-B, illustrating a two-position detection embodiment, the vertical position of the drive dogs 740a, 740b either allows a light beam 1592 to pass to an emitter as shown in Figure 15A, or blocks the light beam 1592, as shown in Figure 15B. In accordance with one preferred aspect, the drive dogs include an alignment flange 1641 to maintain their rotational position with respect to their respective housings 1185, while still allowing vertical travel thereof. Therefore, the emitters 1381a and 1381b and detectors 1383a and 1383b can be positioned toward an outer edge of the drive dogs 740a and 740b to avoid the light beam 1592 being blocked by the flange 1641.Insertion and Docking

[0152] In accordance with one aspect of the invention, during use, the steerable overtube 140 is manually navigated to an operative site (or "working site" in non-medical applications) using manual control handles 411 to operate the bending portion 441 of the steerable overtube 140. The steerable overtube 140 is advanced under visualization, in conjunction with an endoscope, for example. Once the distal portion of the steerable overtube is positioned at the operative site, the hub 410 is connected to the robotic overtube controller 170 and the surgical procedure can continue under robotic control.323196255V1 28Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCOne or more surgical instruments are inserted through the steerable overtube 140 and may be removed or exchanged during a procedure.

[0153] In accordance with one aspect of the invention, the first and second robotic actuator engagement portions 440a, 440b of the hub 410 are directly connected to the manual control handles 411 of the hub 410, and through the internal mechanism thereof also to the steering elements of the steerable overtube 140, such as control wires. As such, upon connection with the robotic overtube controller 170, the robotic actuator engagement portions 440a and 440b will be in a rotational position corresponding to the 3- dimensional flexure of the steerable portion 441 of the steerable overtube 140, and not necessarily in a default or neutral position. That is, the degree of lateral (left / right) and vertical (up / down) bending of a steerable portion 441 of the steerable overtube 140, due to manual manipulation of the control handles 411, will result in a rotational alignment difference between the drive dogs 740a, 740b and the robotic actuator engagement portions 440a and 440b, when docking the hub 410 with the robotic overtube controller 170. Accordingly, the rotational position of the drive dogs 740a and 740b needs to be aligned with the robotic actuator engagement portions 440a and 440b.Drive Dog Position Detection and Alignment

[0154] Assuming the drive dogs 740a and 740b and robotic actuator engagement portions 440a and 440b are not in rotational alignment, upon engagement of the hub 410 with the robotic overtube controller 140, the drive dogs 740a and 740b will deflect downward into their respective housings 1185a and 1185b, and the system controller 150 will then commence an alignment process. The alignment process can alternatively or additionally be triggered manually by a user, in accordance with the invention. In connection with an automated implementation of an alignment process, the system controller 150 receives an indication by a control signal that the hub 410 is installed, as detected by presence detector 750a. The system controller 150 also receives a control signal that one or more drive dogs 740a and 740b are in a low position, being depressed by the robotic actuator engagement portions 440a and 440b but not yet fully engaged therewith. Based on these signals, the system controller 150 can determine the need for an alignment process and can either command the controller 170 to initiate the process automatically, or alternatively, can prompt a user to approve that the process commence. In any case, until323196255V1 29Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCthe drive dogs 740a and 740b are determined to be in full engagement, normal operation of the subject robotic surgical system 100 will be prevented by the system controller 150.

[0155] The embodiment of Figures 15A and 15B illustrates a two-position configuration in which the emitter 1381 and detector 1383 are aligned with a lowermost position of the drive dogs 740a, 740b. When the drive dogs 740a, 740b are detected in the lowermost position (light beam blocked, no control signal received) and presence of the hub 410 is detected, the system controller 150 can initiate an alignment process. When the drive dogs 740a, 740b are not detected in the lowermost position (light beam unblocked, control signal received), the system controller will know that full engagement of the drive dogs 740a, 740b has been achieved, again in combination with detection of the presence of the hub 410. If a drive dog 740a, 740b extends higher than the engaged position, it will not be detected in the lowermost position (light beam unblocked, control signal received), but since the presence of the hub 410 would not be detected by the presence detector 750a, the system controller 150 will determine that the system 100 is not ready.

[0156] When embodied as a two-stage detection configuration, where a lowermost position of the drive dogs 740a, 740b is detected by the sensor, an input from the presence detector 750a also helps differentiate a false trigger of an alignment process, such as an accidental press of a drive dog 740a, 740b by a technician, for example.

[0157] With reference to Figures 15C-E, an alternative three-position detection configuration is illustrated. In this configuration, the emitter 1381 and detector 1383 are aligned with the engaged height (middle position) of the drive dogs 740a, 740b. When a control signal indicates the presence of the hub 410, the system controller can differentiate between positions that are either higher or lower than the engaged position, based on whether a light beam 1492 is detected. Without input from a presence detector, such as presence detector 750a the system controller 150 would not be able to determine whether the drive dogs 740a, 740b were in a low position requiring an alignment process, or if the drive dogs 740a, 740b were in a high position with no hub 410 connected.

[0158] Figure 15D illustrates sensor output in response to light beam detection. As discussed above, a sensor signal indicates that the drive dog 740a or 740b is not in the position correlating the sensor. Depending on the implementation, this can indicate, in combination with a presence detection signal from an additional sensor, whether an alignment process should be initiated, if the system is ready to operate, or if an error is323196255V1 30Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCdetected. Figure 15E illustrates an example range in which a sensor is effective, with respect to a vertical position of a drive dog 740a or 740b. The band of no signal (0) correlates to the vertical height of the middle position, within a range, illustrated in solid line as 3mm, and in partially broken line as 1mm, which can be achieved by using a narrower beam of light and / or lesser thickness of parts to be detected.

[0159] In short, in accordance with the invention, to reliably determine full engagement of the drive dogs 740a, 740b with corresponding robotic actuator engagement portions 440a, 440b, and / or to determine the need for an alignment process, the presence of one or more drive dogs 740a, 740b at an engaged height or compressed height can be directly detected. In the illustrated embodiments this is accomplished by optical detectors, although alternate position detection types can be implemented. The combination of presence detection of the hub 410, e.g., by presence detector 750a or 750b with position detection of the drive dogs 740a, 740b permits reliable determination of full engagement of the drive dogs 740a, 740b with corresponding robotic actuator engagement portions 440a, 440b. The system will typically experience the following sequence of states: an idle position (no hub 410 detected, drive dogs 740a, 740b in idle position), then an engagement step and alignment process (hub 410 detected, but one or more drive dogs in low position and not fully engage with hub), then finally a fully engaged state, ready for operation (hub 410 detected, both drive dogs 740a, 740b in engaged position).

[0160] In accordance with certain embodiments, the subject systems are provided with a time delay between when the presence detector 750a is pressed, and optionally also following detected depression of the drive dogs 740a, 740b before the system 100 begins utilizing a signal from the detectors 1383a and 1383b to determine a need for a homing or alignment process, and to initiate such process. Such delay can be advantageous to minimize a false signal in which the hub 410 of the steerable overtube 140 is in the process of being connected, and still only partially attached to the robotic overtube controller 170 (e.g., at an angle). In such a situation, a presence detector 750a may indicate engagement but the drive dogs 740a, 740b may still be in an upward position signaling full engagement. Such delay allows time for the hub 410 to push the drive dogs 740a, 740b downward before a signal from the detectors 1383a and 1383b is used to determine the vertical position of the drive dogs 740a, 740b. The time delay can be selected as needed. In certain embodiments, the time delay is or is about 1, 5, 10 or 15 seconds.323196255V1 31Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0161] In accordance with an alternate embodiment of the invention, engagement detection can also be accomplished through monitoring drive motor characteristics in connection with other data. For example, a rate of change in motor torque (1st derivative) can indicate engagement. If this data is compared with encoder data, a determination can be made. More particularly, if motor torque is changing and encoder position not changing then a drive dog is engaged. In accordance with this embodiment, an actuator can be stopped when a spike in motor torque is detected. The absolute and incremental encoder data can be used in conjunction to determine errors, if desired.

[0162] In accordance with still a further alternate embodiment of the invention, engagement detection can also be accomplished through detection of contact of the drive dogs 740a, 740b with the corresponding first and second robotic actuator engagement portions 440a, 440b of the steerable overtube 140. For example, in cases where these elements are electrically conductive, and electrical continuity exists or is provided between the first and second robotic actuator engagement portions 440a, 440b of the steerable overtube 140, continuity between the drive dogs 740a, 740b can be interpreted by the system controller 150 as indicating the presence of the steerable overtube 140. In conjunction with axial position detecting signals of the drive dogs, the system controller 150 can determine when to initiate an alignment process, and when to conclude that process.

[0163] As best seen in Figure 16, in accordance with one aspect of the invention, a drive dog assembly includes a drive dog housing 1185, having a lower shaft portion 1666 (which can be a separate part), and an upper portion including an alignment groove 1681 for receiving a flange 1641 of a drive dog 740 to rotationally fix the housing 1185 to the drive dog 740. A spring 1651 is received within a central bore 1683 of the housing 1185. A lower portion 741 of the drive dog 740 is then placed and secured with a bolt 1671 to the housing 1185, thereby resiliently suspending the drive dog 740 with respect to the housing 1185 and other elements of the mechanism. An upper drive dog portion 743 is then secured, such as by screws, to the lower portion 741. Advantageously, this configuration allows replacement of the upper drive dog portion 743 in case of damage or need for different alignment and engagement pin configuration. Additionally, bearings 1186 are accommodated by shoulders 1687 formed on the housing 1185.323196255V1 32Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0164] Figures 17 and 18 illustrate an exemplary latch assembly 1700 in accordance with the invention. As described above, the latch assembly 1700 functions in conjunction with a structural base (such as the supporting frame 1191 and retaining plates 1231, 1232), and a return spring 1395. Additional, return springs can also be provided to resiliently maintain each of the latches 731, 732a and 723b in an idle position (urged inwardly). The latch release mechanism 1390 is supported by a frame 1720, which is slidable relative to external supporting structures (such as the supporting frame 1191 illustrated in Figures 11, 12 and 13A). Pressing on the latch release button 735 causes the frame 1720 to move longitudinally along the axis of the robotic overtube controller 170, as illustrated by the direction of the arrow. Although the latches 731, 732a and 732b can be resiliently urged inwardly, the movement of the frame 1720 pushes the proximal latch 731 outwardly, being limited by dimensions of proximal latch slot 1724, and a cam follower 1731 extending downwardly from the latch 731. Similarly, movement of the frame 1720 urges the lateral latches 732a and 732b outwardly, being limited by angled cam surfaces 1722 of the frame 1720 and cam followers 1732a and 1732b extending downwardly from each respective latch.

[0165] Figure 19 illustrates an alternate attachment configuration for securing a steerable overtube 1940 by way of threaded connections to a robotic overtube controller 1970. In such an arrangement, one or more threaded connections can be used. As illustrated, two through-bolts 1973 with thumbscrews 1971 are provided to securely attach the steerable overtube 1940 to the robotic overtube controller 1970. The through-bolts are, in certain embodiments, retained by the robotic overtube controller 1970 to facilitate attachment and removal of the steerable overtube 1940 from the robotic overtube controller 1970.Robotic Assisted Control

[0166] Following the above-described engagement, detection, and alignment steps, the steerable overtube 140 can be used under robotic control of the system 100 by way of the robotic overtube controller 170. More specifically, flexural motions (e.g., up, down, left, right) of the steerable portion 441 of the steerable overtube 140 are controlled by the robotic overtube controller 170, while translational movements (along a longitudinal axis of the steerable overtube 140) and roll movements (about a longitudinal axis of the steerable overtube 140) are facilitated by other aspects of the patient cart 110. In certain323196255V1 33Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCembodiments, the robotic overtube controller 170, to which the steerable overtube 140 is securely engaged is translated or rotated in its entirety to effect translation or roll movements of the steerable overtube 140. In certain embodiments, all instrument controllers and videoscope, also rotate or translate in unison, as enabled by the patient cart 110.

[0167] In accordance with one embodiment, movements of the steerable overtube 140 are controlled by an operator (e.g., a physician) through one or both hand control devices 121a, 121b. In accordance with one embodiment, the movements of the steerable overtube 140 are controlled by the left hand control device 121a following activation of a mode control switch. In accordance with one embodiment, an overtube control mode switch 124 is provided among the foot pedals 123 of the physician console 120. In accordance with an alternative embodiment, a mode control switch is provided in a different user interface on the physician console 120, such as in a graphical user interface on the display screen 125, for example. Still in accordance with a further alternative embodiment, movements of the steerable overtube 140 are controlled by a dedicated controller.

[0168] In accordance with the illustrated embodiment, the overtube control mode switch 124 is depressed, and movements of a hand control device 121a, 121b (e.g. left hand control device 121a) are received by a controller, such as the system controller 150, processed and then output to respective actuators of the system 100 in order to effect the commanded movements. In accordance with one embodiment, forward / backward movements of the hand control device 121a, 121b are interpreted by the controller 150 as axial translation commands. In accordance with one embodiment, rotation movements of the hand control device 121a, 121b are interpreted by the controller 150 as roll commands. In accordance with one embodiment, sideways (left / right) translation motions of the hand control device 121a, 121b are interpreted by the controller 150 as left / right flexural commands. Alternatively, in accordance with one embodiment, sideways (left / right) bending motions of the hand control device 121a, 121b (e.g., by flexion / extension of a user's wrist) are interpreted by the controller 150 as left / right flexural commands. In accordance with one embodiment, vertical translation motions (up / down) of the hand control device 121a, 121b are interpreted by the controller 150 as up / down flexural commands. Alternatively, in accordance with one embodiment, vertical bending323196255V1 34Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCmotions (up / down) of the hand control device 121a, 121b are interpreted by the controller 150 as up / down flexural commands.

[0169] Upon receipt of a flexural command from the hand control device 121a, 121b, the controller 150 commands one of the actuators 1181a, 1181b to rotate either clockwise or counter-clockwise. As described above, this results in corresponding rotation of the corresponding drive dog 740a, 740b, which in-turn rotates the corresponding engagement portion 440a, 440b of the hub 410 of the steerable overtube 140. Internally to the hub 410, each engagement portion 440a, 440b operates a mechanism corresponding to one of left / right or up / down flexural motion. Such mechanisms are configured to apply tension to control wires corresponding to their respective movements, such as by applying antagonistic tension to a bending joint by two separate control wires. First engagement portion 440a, and the first drive dog 740a therefore operate one of sideways (left / right) or "lateral" bending and vertical (up / down) bending, while the second engagement portion 440b, and the second drive dog 740b operate bending in the remaining direction or plane. Accordingly, if all elements of the system 100, including the overtube 140, its hub 410, and programming of the controller 150 are in agreement, either drive dog 740a, 740b can be configured to operate bending in either plane. In accordance with one embodiment, the first drive dog 740a, and first engagement portion 440a are adapted and / or configured to cause lateral (left / right) bending of the steerable portion 441 of the steerable overtube 140, and the second drive dog 740b, and second engagement portion 440b are adapted and / or configured to cause vertical (up / down) bending of the steerable portion 441. In accordance with an alternate embodiment, the configuration is reversed, with the first drive dog 740a, and first engagement portion 440a are adapted and / or configured to cause vertical (up / down) bending of the steerable portion 441 of the steerable overtube 140, and the second drive dog 740b, and second engagement portion 440b are adapted and / or configured to cause lateral (left / right) bending of the steerable portion 441.

[0170] In accordance with certain embodiments, bending inputs at the hand control device 121a, 121b can be processed by the controller 150 prior to generating an output control signal. Among the processing functions that can be applied is a scaling process by which a magnitude of input motion is correlated to a magnitude of output motion. Such scaling can be set to a default amount, or alternatively, can be increased or decreased by the user to323196255V1 35Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCmore precisely control corresponding movements of the steerable portion 441 of the steerable overtube 140.

[0171] In accordance with certain embodiments, each actuator 1181a, 1181b can be provided with an incremental rotary encoder, so that position changes of each actuator 1181a, 1181b can be closely monitored and incrementally controlled by a controller, such as the system controller 150 or a separate controller. Meanwhile, the rotary encoders 1183a, 1183b are, in accordance with certain embodiments, absolute encoders to report a precise rotational position to a controller, such as the system controller 150.

[0172] Further, following full engagement, the rotary positions of the drive dogs 740a, 740b can be used to determine a degree of bending in each controlled direction of the steerable portion 441, and therefore its conformation in three dimensions. Such data can be utilized to graphically represent the position of the steerable portion 441 to the operator.

[0173] The range of motion of the steerable portion 441 of the steerable overtube 140 in each bending direction (up, down, left, right), with respect to a neutral position, correlates to a degree of rotation of a corresponding engagement portion 440a, 440b, and therefore also to a degree of rotation of the corresponding drive dog 740a, 740b and its actuator 1181a, 1181b. In certain embodiments, a rotation of an engagement portion 440a, 440b up to about + / -180 degrees (one half rotation clockwise or one half rotation counterclockwise) from a neutral position corresponds to a complete range of motion of the steerable portion 441 in one plane (i.e., left / right bending or up / down bending). In accordance with certain embodiments, a rotation of between about +90 and -90 degrees corresponds to a complete range of motion. Rotation ranges can alternatively be greater than 180 degrees or less than 90 degrees.Calibration

[0174] Optionally, a necessary degree of rotation of the drive dogs 740a, 740b and therefore of the actuators 1181a, 1181b can be calibrated by the system 100, to effect a partial or complete range of motion of the steerable portion 441 of the steerable overtube 140. Such calibration can be automated or partially automated, and can be carried out in an operating suite prior to a procedure or alternatively at a point of manufacture.Calibration data can be derived within the system 100, therefore, or conveyed to the323196255V1 36Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCsystem 100 by data stored on the steerable overtube 140 itself (e.g., in a memory chip), or downloaded by the system 100 from a server upon receipt of a unique identifier (e.g. serial number) of the steerable overtube 140, depending upon the precise implementation. In a calibration procedure, following attachment of a steerable overtube 140, the drive dogs 740a, 740b are rotated until sufficient flexion of the steerable portion 441 is achieved. The point of sufficiency can determined by a user in monitoring actual movements of the steerable portion 441, or alternatively can be determined automatically by the system 100, such as through monitoring parameters associated with the actuators 1181a, 1181b, such as applied torque, with respect to rotation of the actuators 1181a, 1181b and / or drive dogs 740a, 740b. For example, if torque increases while rotation slows, reaching a mechanical limit of the steerable portion 441 in that direction can be inferred. In either case, the determined maximum degree of rotation of each of the drive dogs 740a, 740b in each rotational direction can then be stored in the memory, such as in the system controller 150.Examples

[0175] The following nonlimiting examples are provided to illustrate control of bending of the steerable overtube 140 through interaction with the robotic overtube controller 170 and other elements of the system 100. For example, to bend the steerable portion 441 of the steerable overtube 140 left, an operator translates the left hand control device 121a to the left, which is output by the hand control device as a control signal to the controller 150. The signal is processed to determine a corresponding direction and degree of rotation of the corresponding drive dog to achieve a determined amount of left bending of the steerable portion 441 (e.g., first drive dog 740a). The controller 150 signals the corresponding actuator (e.g., 1181a) to advance in the prescribed direction, while rotational position of the drive dog (e.g., 740a) is monitored by the controller 150 through a position signal output by the corresponding rotary encoder (e.g., 1183a). When a target degree of rotation is reached, the controller 150 signals the actuator to stop. Similarly, right translation of the hand control device 121a causes rotation of the drive dog (e.g., 740a), actuator (e.g., 1181a) and rotary encoder (e.g., 1183a) in the opposite direction, effecting right bending of the steerable portion 441. Upward and downward bending is similarly achieved using the other drive dog (e.g., 740b), actuator (e.g., 1181b) and rotary323196255V1 37Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCencoder (e.g., 1183b), responding to upward and downward translation of the hand control device 121a.

[0176] Figures 20A-E illustrate an alternate embodiment of engagement for robotic overtube controllers, drape adapters and steerable overtubes in accordance with the invention. In the illustrated embodiment, a movable internal plunger 2044a and 2044b in drive dog upper portions 2043a and 2043b of the sterile drape adapter 2080, when aligned with a corresponding slot in drive dog lower portions 2041a and 2041b, cause mechanical engagement between the drive dog upper portions 2043a and 2043b and drive dog lower portions 2041a and 2041b, and thus with the robotic overtube controller. The robotic actuator interfaces 2040a and 2040b of the steerable overtube hub 2010 are embodied as at least partly retractable. When fully aligned, the robotic actuator interfaces 2040a and 2040b extend downward into the drive dog upper portions 2043a and 2043b, urging the plunger 2044a and 2044b downward and into and engaging with the drive dog lower portions 2041a and 2041b. In one preferred aspect, the robotic actuator interfaces 2040a and 2040b can be provided with a central lower face that extends slightly more than adjacent portions, urging the plunger 2044a and 2044b into partial engagement with the drive dog lower portions 2041a and 2041b. As such, an alignment procedure can be carried out, enabling the drive dog upper portions 2043a and 2043b to rotate and align the keyed shape of the drive dog upper portions 2043a and 2043b with corresponding portions of the robotic actuator interfaces 2040a and 2040b.

[0177] With reference to Figure 20A, an alternate arrangement of actuators for the subject robotic overtube controllers 170 is illustrated, in which actuators 2081a and 2081b are vertically oriented and directly coupled to the drive dogs. This arrangement, provided that sufficient torque is developed, can allow for a simpler construction and more compact device.

[0178] Illustrated in Figures 21A-C is an alternative configuration for drive dog engagement features in accordance with the invention. As with the above-described embodiments, a centered alignment feature is provided, which in this case is a ring 2142. Eccentric engagement pins 2145, 2147 are also provided as with other embodiments. In the illustrated embodiment, however, a first eccentric drive dog engagement feature or pin 2145 is placed within the alignment ring 2142, while a second drive dog engagement feature or pin 2147 is located along the alignment ring 2142. As with all the foregoing323196255V1 38Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCconfigurations of other drive dogs, the configuration remains asymmetric, allowing connection only in a specific orientation with the first and second robotic actuator engagement portions2144a, 2144b of the hub 2110 of a steerable overtube.

[0179] Figures 22 and 223i I lustrate top front (distal end) and bottom rear (proximal end) isometric views of an alternate example embodiment of a sterile drape adapter 2200 for robotic overtube controllers in accordance with the present invention. Figures 24, 25 and 26 respectively illustrate a right side view (left being a mirror image), a proximal end view and a distal end view of the sterile drape adapter 2200. The sterile drape adapter 2200 shares many similarities of the sterile drape adapter 800 illustrated in previous embodiments, and therefore where elements are identical, the same reference numbers are used.

[0180] The sterile drape adapter 2200 includes various apertures or cutouts to allow interaction between the robotic overtube controller 170 and the steerable overtube 140. In particular, an aperture extension region 2281 is provided for the proximal latch 731, continuous with an aperture 2283 intended for the drive dogs 740a, 740b, and optionally extended to encompass the first (central) alignment feature 725 by way of an extension region 2285. Similar to the sterile drape adapter 800, a third aperture 885 is provided for a presence detector 750a for detecting presence of the steerable overtube 140, a fourth aperture 887 is provided for the distal lateral latches 732a, 732b, and a fifth aperture 889 is provided for a second (distal) alignment feature 727. A cutaway region 2282 is also provided to allow access to the latch release button 735. A grip region 2299, which can be a cutaway region is provided, to allow a user to securely grip the sterile drape adapter 2200 for removal. Considering that a user is likely to be wearing personal protective equipment, including gloves, and that bulk drape material will be present, enhancing grip to allow a user to remove the sterile drape adapter 2200 from the robotic overtube controller 170 by pulling (upward) is particularly advantageous. As best seen in Figure 20, the alignment tab 864 extends downwardly from the body 861 for aligning with the robotic overtube controller 170 by engaging the corresponding slot 723 of the robotic overtube controller 170.

[0181] One or more upward walls 867 extend from the body 861 of the sterile drape adapter 2200. In conjunction with latches and other alignment features, the upward walls 867 can facilitate alignment of the hub 410 of the steerable overtube 140 with the robotic323196255V1 39Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCovertube controller 170. In the illustrated embodiment, the upward wall 867 includes two portions, which are discontinuous at a proximal portion corresponding to the proximal latch, to allow the proximal latch to engage with the hub 410. However, alternative configurations are possible in accordance with the invention. One or more downward walls 863 also extend from the body 861 and help align and engage the sterile drape adapter 2200 to the robotic overtube controller 170. A plurality of engagement features 865 are provided to further enhance engagement of the sterile drape adapter 2200 to the robotic overtube controller 170. Such engagement features 865 can be considered clips or snaps to enable clip-on or snap-on engagement to the robotic overtube controller 170.

[0182] A drape material attachment area 869 is provided on the sterile drape adapter 2200, where bulk drape material or a body of a sterile drape material is secured by a suitable technique, depending on the material, including but not limited to heat, solvent or ultrasonic welding, adhesive, mechanical clamping, and the like. As best seen in Figure 23, a protrusion or other presence detection feature 862 is provided on the sterile drape adapter 2200 for interacting with a presence detector on the robotic overtube controller 170. Various alternate detection techniques can be provided, including by electrical contact detection, optical detection, magnetic detection (e.g., by hall-effect sensor), or other detection principles can be applied to the subject systems 100, allowing the system controller 150 to detect the presence of attached parts, including the sterile drape adapter 2200.Sterile Drape Adapter- Additional Features and Embodiments

[0183] Figures 27-29 are provided to illustrate various embodiments of engagement features 865, 2865, 2965, of the sterile drape adapters 800 (and 2200), 2800 and 2900, respectively. In the embodiment of Figure 27, three discrete resilient engagement features 865 are provided on each side, adapted to engage a corresponding feature 721 on the surface 710a of the robotic overtube controller 170. Figures 30 and 31 illustrate such engagement, where the engagement features 865 include a concave region to engage with a convex region 721, particularly embodied as a longitudinal rib, so as to enable a secure snap-on engagement but to also allow for simple and easy removal, particularly by an operator or technician wearing protective clothing and gloves. Alternatively, the engagement features 865 can be provided with a convex region and the controller 170 can323196255V1 40Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCbe provided with a concave region. Such alternate configuration can be applied to all embodiments of the sterile drape adapters described herein. The embodiment of Figure 28 illustrates three discrete wall portions 2865 on each side, separated by discontinuities 2867 to allow for independent flexure for insertion and removal to the robotic overtube controller 170. The embodiment of Figure 29 illustrates a large number of discrete wall portions 2965 on each side, separated by discontinuities 2967 to allow for independent flexure for insertion and removal to the robotic overtube controller 170. The inner contours of the engagement features 2865, 2965 are provided to complement those provided on the robotic overtube controller 170, as with the previously discussed embodiments.

[0184] Figures 32-33 illustrate optional sealing features applicable to any of the sterile drape adapters described herein. The seals, which can be made of any suitable resilient material, can provide an effective barrier between the sterile drape adapters and one or more portions of the steerable overtube 140. In accordance with a preferred aspect, the resilient material is a silicone material. The seals can advantageously maintain communication between an unsterilized interior region and a sterile field outside of the sterile drape. That is, in cases where the interior components are not necessarily sterilized, no contaminants can exit beyond the seal. Advantageously, such seals can also work in the opposite manner - where materials from in a sterile field might otherwise penetrate past a drape adapter. As such, contamination by foreign materials such dirt, dust and fluids including cleaning fluids, irrigation fluid, or patient bodily fluids are prevented from passing beyond the outer surface of the control hub 410, sterile drape adapter and sterile drape material. In some embodiments, one or more seals can also be provided between the sterile drape adapters and the robotic overtube controllers 170, although such lower seals would usually be unnecessary due to the protective nature of the sterile drape itself. Additionally, a protective cap can be provided for the bottom face of the hub 410, which can be secured if the hub 410 is removed during a procedure, isolating the bottom of the hub from the sterile field.

[0185] With reference to Figures 32A and 32B, the sterile adapter 3200, in accordance with the invention, includes a sealing material 3209 for sealing between the sterile drape adapter 3200 and a portion of a steerable overtube, such as the hub 410. The seal 3209 is provided on an interior surface of the sterile drape adapter 3200. The seal 3209 can be323196255V1 41Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCpositioned around the inner periphery of the sterile drape adapter 3200 and is illustrated in a relatively central portion of a horizontal face thereof. It is to be understood, however, that the seal 3209 can advantageously be positioned differently, such as on the inner lower corner, or extended across a larger area (including, for example, an entire surface or adjacent surfaces). When the hub 410 is connected to the controller 170, the bottom surface of the hub 410 presses the sealing element 3209 across the entire bottom surface of the hub 410 and isolates the non-sterilized controller 170 interface from surgical procedure environment.

[0186] With reference to Figures 33A-C, the sterile adapter 3300 in accordance with the invention includes a sealing material 3309 for sealing between the sterile drape adapter 3300 and a portion of a steerable overtube, such as the hub 410. The seal 3309 is provided connection with an upper end of an upper wall 3367 of the sterile drape adapter 3300. Notably, the upper wall 3367 of the sterile drape adapter 3300 is embodied as a continuous wall, including both the proximal and distal ends thereof. It is further noted that any of the sterile drape adapters described herein can include such continuous upper walls if desired, even if other adjustments to the precise configuration of other details are necessary to accomplish that goal. The seal 3309 is configured to extend above the upper edge of the upper wall 3367. The seal 3309 can include an outturned upper portion to facilitate easy passage of the hub 410 past the seal 3309. The seal 3309 is secured to the outer periphery of the upper edge of the upper wall 3367, and optionally also to the upper end face of the upper wall 3367. The seal 3309 can be secured to the upper wall 3367 by adhesive, thermal, ultrasonic, or solvent welding, for example, or by another suitable technique. In accordance with still a further aspect of the invention, sterile drape adapters with seals in accordance with the invention can be provided with seals in both positions indicated in Figures 32A-33C. That is, a first seal 3209 can be positioned around the inner periphery of the sterile drape adapter, while a second seal 3309 is also provided connection with an upper end of upper wall.Sterile Protectors for Sterile Drape Adapters

[0187] Figure 34 is an isometric view of the sterile drape adapter 2200 of Figure 22 including a first embodiment of a removeable sterile protector 870, as well as the removeable sterile protector 870 alone. The sterile protector 870 can be molded or die-cut323196255V1 42Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCfrom stock material, such as a plastic film. The sterile protector 870 can be removably secured to the sterile drape adapter 800 by a releasable adhesive, for example. The sterile protector 870 includes a proximal attachment tab 3473, which can be folded to increase surface contact area with the sterile drape adapter 800. Additionally lateral attachment tabs 34975, can be releasably secured to outward-facing or inward-facing surfaces of the upward wall 867. The folded proximal attachment tab 3473 can also advantageously bridge any discontinuities in the upward wall 867 or apertures in the body, such as for the proximal latch. The sterile protector 870 can be releasably adhered to the sterile drape adapter 800 by way of a repositionable adhesive or other releasable securing means, for example.

[0188] Figure 35 is an isometric view of a two-part sterile protector 3570 for sterile drape adapters disclosed herein. The sterile protector 3570 can be releasably adhered to the sterile drape adapter (e.g., 800) by way of releasable or repositionable adhesive, for example. The sterile protector 3070 is comprised of a substantially flat plate 3571 and adhered to the sterile drape adapter by an adhesive sticker 3572. The plate 3571 can be formed from a relatively rigid material, such as a plastic (e.g., acrylic) and therefore can lend rigidity to the sterile protector 3570 as a whole. The sticker portion 3572 can therefore be formed from a thinner and more compliant material, such as a plastic film, for example. As a result, the protector assembly 3570 can be removed and reattached to a sterile drape adapter without peeling. Optionally, a viewing window 3576 can be provided to allow an operator or other technician user to see alignment features of the controller 170 while attaching the sterile drape adapter to a robotic overtube controller (e.g., 170). The sticker portion 3572 can include a wrap-around feature 3577 on the same end as a pull-tab 3579 to securely adhere to the bottom surface of the plate 3571. The sticker portion 3572 can further include side and rear downturned attachment features to enhance adhesion to a sterile drape adapter (e.g., 800), such as a proximal attachment tab 3573, and lateral attachment tabs 3575.

[0189] The foregoing removable sterile protectors 870, 3570 can maintain a sterile field before procedures by covering any unsterilized internal components. Furthermore, they can also be used to maintain a sterile field during a procedure, for example, if the steerable overtube 140 and its hub 410 must be removed from the robotic overtube controller 170323196255V1 43Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCduring the procedure. In such a case, the sterile protectors 870, 3570 can be reapplied, or new (replacement) sterile protectors can be applied to maintain a sterile field.Full-Coverage Disposable Sterile Drape Adapter

[0190] Figure 36 is an isometric view of an alternative embodiment of a robotic overtube controller 3600 in accordance with the present invention for use in conjunction of a sterile drape adapter, as shown in Figures 37A-37D. The robotic overtube controller 3600 is adapted for engaging the sterile drape adapter 3700, which integrates functional elements therein, so that the no parts of the robotic overtube controller 170 itself are exposed in any way. A proximal latch lower portion 3631 engages with a proximal latch upper portion 3731 of the sterile drape adapter 3700; a distal (lateral) latch lower portion 3632a, 3632b engages with a distal (lateral) latch upper portion 3732a, 3732b, a drive dog lower portion 3640a, 3640b engages with a drive dog upper portion 3740a, 3740b; a steerable overtube presence detector lower portion 3650a engages with a steerable overtube presence detector upper portion 3750a; a sterile drape adapter presence detector 3650b engages with a sterile drape adapter presence detection feature 3750b; an alignment / engagement recess 3664 engages with an alignment / engagement bar 3764; and an adapter latching mechanism to robotic overtube controller 3666 engages with an adapter release mechanism to robotic overtube controller 3766. As such all the function of the robotic overtube controller 170 is retained in robotic overtube controller 3600 and transferred through the sterile drape adapter 320. A removable aligner 3770 can be provided to maintain all components in a prescribed orientation to facilitate quick and easy installation on the robotic overtube controller 3600.

[0191] Alternatively, as illustrated in Figures 38A-C, separate sterile disposable components can be provided, which securely engage corresponding components of a robotic overtube controller. In accordance with this aspect of the invention, a sterile drape adapter plate 3800 is provided for use with separable sterile drive dog covers 3840. Each of the drive dogs 3840 include a drive dog base 3841, connected to the driving mechanics, and a drive dog sterile cap 3843. Alignment is facilitated by respective alignment features 3844a and 3844b, and secure engagement is enhanced by respective engagement features 3846a, 3846b. Additionally, drive dog pins 3898b can be provided to engage in corresponding recesses 3898a and enhance torque transfer.323196255V1 44Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCFull-Coverage Sterilizable Sterile Drape Adapter

[0192] Still a further embodiment of a sterile drape adapter 4000 is illustrated in Figures 39A, 39B and 40A-C. In this embodiment, a disposable drape adapter frame 3900 is provided, to which the drape material is attached, typically at the point of manufacture, as in the foregoing embodiments. A sterile drape adapter 4000, which can be sterilizable or disposable, is also provided and includes various movable elements to allow motion transfer from a compatible robotic overtube controller, such as the robotic overtube controller 3600 illustrated in Figure 36, similar to the sterile drape adapter 3700 of Figures 37A and 37B. To that end, the sterile drape adapter 4000 includes a proximal latch upper portion 4031, a distal (lateral) latch upper portion 4032a and 4032b, a drive dog upper portion 4040a and 4040b, a steerable overtube presence detector upper portion 4050a, and a sterile drape adapter presence detection feature 4050b to engage corresponding elements of the robotic overtube controller. A lock or thumbscrew 4064 is provided to connect the sterile drape adapter 4000 to the robotic overtube controller and / or frame 3900.Sterile Drape Assembly

[0193] As seen in Figure 41, a surgical drape assembly 4100, including a sterile drape adapter 800 in accordance with the present invention is illustrated. As with other embodiments of sterile drape adapters, the assembly 4100 is used or provided with a drape material 4190. The surgical drape assembly, as illustrated, can be formed to define an inner volume to be received about the robotic controller 170. The sterile surgical drape material 4190 can be made from any conventional disposable sterile drape material, including, but not limited to, polyethylene, polypropylene or other materials fabricated by extrusion, or prepared as nonwoven materials such as by spin-bonding (spunbond), and the like. The drape material 4190 is attached around the periphery of the inner hub engagement area, at the bonding region 869. The drape material 4190 can be attached to the sterile drape adapter by any suitable materials or process, including adhesive or welding processes, as well as by mechanical engagement such as clamping, if appropriate adaptations are made. In general, bonding techniques are used that are suitable based on the properties of the materials being joined. In accordance with one embodiment, an323196255V1 45Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCadhesive, such as a double-sided adhesive tape is used during fabrication to adhere the drape material 4190 to the bonding region 869. Subsequently a heat-sealing step is taken to activate the adhesive and complete the bond. This approach is advantageous in creating a strong bond between a sterile drape adapter formed from an ABS material, and a drape material formed from a polyethylene material.Presence Detection Features

[0194] Figures 42-46 illustrate various configurations of presence detection features for detecting the proper installation of a sterile drape adapter to a robotic overtube controller, and optionally also for detecting proper installation of other components (such as the steerable overtube 140, other sterile drape elements, and the like). Figures 42A-C illustrate the presence detection features previously described in connection with previous Figures 7-13. As illustrated, the lower surface of the hub 410 and the protrusion 862 of the sterile drape adapter 800, each of which respectively interacts with respective presence detection features 750a and 750b. As can be appreciated, the second presence detection feature 750b resides in its idle state in a recess. Accordingly, if the overtube 140 and the hub 410 are installed without a sterile drape adapter already in place, only the detection feature 750a will be triggered, while the detection feature 750b will not be triggered. Accordingly, the system controller 150 can be programmed to identify this situation as an error and prompt the user to take further corrective action. The presence detection features 750a, 750b can include a resiliently supported cylindrical element as depicted, which triggers a switch (such as a mechanical switch) or can utilize any alternative detection means (such as an optical or Hall-effect sensor).

[0195] Figures 43A and 43B illustrate an alternative embodiment of a presence detector, including a conductive element 4383 (such as a metal element, metal insert or conductive, metalized layer, metal tape or the like) for engaging with resilient electrical contacts. Presence is detected by closure of an electrical circuit by the conductive element. When fully seated, the resilient contacts 4385 carried by the robotic overtube controller 170 make contact with the conductive element 4383, which in this embodiment is applied at least on lateral faces of a protrusion 4381 extending from a sterile drape adapter 4380. The sterile drape adapter 4380, as with other embodiments described herein, is typically formed from a nonconductive material, such as a polymeric plastic material.323196255V1 46Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0196] Figures 44A-D illustrate an additional alternative embodiment of a presence detector, also including a conductive element 4483 such as a metal insert, that securely engages with externally sprung electrical contacts 4485. The sterile drape adapter 4480 includes a protrusion 4481 that in this embodiment also functions as a catch having a conductive element 4483. The contacts 4485, which in this embodiment also function as a latch include a conductive core 4486 along with an outer insulative portion 4487. The contacts 4485 here are optionally urged toward a center idle position by opposed springs 4491. In order to release the sterile drape adapter 4480, a release pusher 4495 is provided to urge the contacts 4485 outward, thereby releasing the protrusion 4481.

[0197] Figures 45A and 45B illustrate a further alternative embodiment of a presence detector, including a conductive element 4583 (such as a metal insert), for making contact with electrical contacts 4585. This embodiment is similar to the previous contact-making embodiments; however, instead of a protrusion being provided, the conductive element 4583 is parallel to, and optionally recessed within, a lower surface of the sterile drape adapter 4580. Figures 46A and 46B illustrate yet another alternative embodiment of a presence detector, including a cam surface within a guide 4681. The cam surface captures the contacts 4685 during installation of the sterile drape adapter 4680 and urges the contacts 4685 together, thereby completing ("closing") an electrical circuit.

[0198] In light of the various illustrated embodiments of the subject systems and devices described above, it is to be appreciated that such various non-limiting embodiments, or elements thereof, may be used separately, combined, or selectively combined for specific applications. Further, any of the various features of the above non-limiting embodiments can be used without the corresponding use of other described features. The foregoing description should therefore be considered as merely illustrative of the principles, teachings, and exemplary embodiments of this invention, and not in limitation thereof.

[0199] Any module(s) disclosed herein can include any suitable hardware and / or software module(s) configured to perform any suitable function(s) (e.g., as disclosed herein, e.g., as described above). As will be appreciated by those skilled in the art, aspects of the present disclosure may be embodied as a system, method, or computer program product.Accordingly, aspects of this disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.), or an embodiment combining software and hardware aspects, all323196255V1 47Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCpossibilities of which can be referred to herein as a "circuit / ' "module," or "controller." A "circuit," "module," or "controller" can include one or more portions of one or more separate physical hardware and / or software components that can together perform the disclosed function of the "circuit," "module," or "controller", ora "circuit," "module," or "controller" can be a single self-contained unit (e.g., of hardware and / or software).Furthermore, aspects of this disclosure may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon.

[0200] Any combination of one or more computer readable medium(s) may be utilized.The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0201] A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.323196255V1 48Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0202] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0203] Computer program code for carrying out operations for aspects of this disclosure may be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0204] Aspects of this disclosure may be described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of this disclosure. It will be understood that each block of any flowchart illustrations and / or block diagrams, and combinations of blocks in any flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in any flowchart and / or block diagram block or blocks.

[0205] These computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks.323196255V1 49Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0206] The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified herein.

[0207] Those having ordinary skill in the art understand that any numerical values disclosed herein can be exact values or can be values within a range. Further, any terms of approximation (e.g., "about", "approximately", "around") used in this disclosure can mean the stated value within a range. For example, in certain embodiments, the range can be within (plus or minus) 20%, or within 10%, or within 5%, or within 2%, or within 1% or within any other suitable percentage or number as appreciated by those having ordinary skill in the art (e.g., for known tolerance limits or error ranges).

[0208] The use of the term "substantially" in the Specification and Claims means largely but not wholly what is specified. The term "substantially" can also mean "consisting essentially of".

[0209] With regard to degree, the term "substantially" in one aspect means greater than 50%, up to and including 100%. The term "substantially" in another aspect means 90% to 100%, inclusive. The term "substantially" in another aspect means 95% to 100%, inclusive. The term "substantially" in another aspect means 97% to 100%, inclusive. The term "substantially" in another aspect means 98% to 100%, inclusive. The term "substantially" in another aspect means 99% to 100%, inclusive. The term "substantially" in another aspect means 99.5% to 100%, inclusive. The term "substantially" in another aspect means 99.6% to 100%, inclusive. The term "substantially" in another aspect means 99.7% to 100%, inclusive. The term "substantially" in another aspect means 99.8% to 100%, inclusive. The term "substantially" in another aspect means 99.9% to 100%, inclusive.

[0210] With regard to function and corresponding functional language, the term "substantially" in the Specification and the Claims means sufficiently to such a degree of being precise such that performance of the prescribed action or task, from the perspective of one with ordinary skill in the art, is the same as though the object, element or step were exactly precise.323196255V1 50Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC

[0211] The term "predetermined" as used herein, including in the Specification and Claims, means an element, quantity, or value, for example, which is selected in advance, where precise details, quantities or values can vary, but which nevertheless is relevant to the claimed invention.

[0212] The articles "a", "an", and "the" as used herein and in the appended claims are used herein to refer to one or to more than one (i.e., to at least one) of the grammatical object of the article unless the context clearly indicates otherwise. By way of example, "an element" means one element or more than one element.

[0213] The phrase "and / or," as used herein in the specification and in the claims, should be understood to mean "either or both" of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Multiple elements listed with "and / or" should be construed in the same fashion, i.e., "one or more" of the elements so conjoined. Other elements may optionally be present other than the elements specifically identified by the "and / or" clause, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, a reference to "A and / or B", when used in conjunction with open-ended language such as "comprising" can refer, in one embodiment, to A only (optionally including elements other than B); in another embodiment, to B only (optionally including elements other than A); in yet another embodiment, to both A and B (optionally including other elements); etc.

[0214] As used herein in the specification and in the claims, "or" should be understood to have the same meaning as "and / or" as defined above. For example, when separating items in a list, "or" or "and / or" shall be interpreted as being inclusive, i.e., the inclusion of at least one, but also including more than one, of a number or list of elements, and, optionally, additional unlisted items. Only terms clearly indicated to the contrary, such as "only one of" or "exactly one of," or, when used in the claims, "consisting of," will refer to the inclusion of exactly one element of a number or list of elements. In general, the term "or" as used herein shall only be interpreted as indicating exclusive alternatives (i.e., "one or the other but not both") when preceded by terms of exclusivity, such as "either," "one of," "only one of," or "exactly one of."

[0215] With regard to positioning in space and relative positional terms, as used herein, have conventional meaning and are to be interpreted as such, unless explicitly indicated otherwise. For example, the terms distal and proximal mean farther / farthest or nearer / 323196255V1 51Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCnearest from a reference point. Where represented there may be illustrated axes shown in phantom line or otherwise, and / or a reference legend oriented with respect to one or more figures to visually guide understanding of use of such relative positional terms. As such translation along or rotation about such axes and / or movement within planes defined thereby can be easily understood.

[0216] The embodiments of the present disclosure, as described above and shown in the drawings, provide for improvement in the art to which they pertain. While the systems, devices / apparatus and methods of the subject disclosure have been shown and described, those skilled in the art will readily appreciate that changes and / or modifications may be made thereto without departing from the scope of the subject disclosure. For example, those skilled in the art will readily appreciate that the various aspects of the invention described and illustrated throughout the specification, and components thereof, can be readily interchanged with one another and utilized alone or in any combination, without limitation, which is explicitly contemplated herein.

[0217] It is to be appreciated that the concepts, systems, circuits and techniques sought to be protected herein are not limited to use in the example applications described herein (e.g., medical, surgical or industrial applications), but rather may be useful in substantially any application where the subject devices, systems and methods find advantageous applications. While particular embodiments and applications of the present disclosure have been illustrated and described, it is to be understood that embodiments of the disclosure not limited to the precise construction and compositions disclosed herein and that various modifications, changes, and variations can be apparent from the foregoing descriptions without departing from the spirit and scope of the disclosure as defined in the appended claims.

[0218] Accordingly, it is submitted that that scope of the patent should not be limited to the described embodiments but rather should be limited only by the spirit and scope of the following claims.323196255V1 52

Claims

Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCClaims1. A robotic surgical system for manipulating a steerable overtube, comprising:a) an operator control adapted to receive movement input from an operator;b) a robotic overtube controller having:i) a first drive assembly configured to drive bending motion of the steerable overtube in first and second opposing directions;ii) a second drive assembly configured to drive bending motion of the steerable overtube in third and fourth opposing directions; andc) a system controller in communication with the operator control and the robotic overtube controller, the system controller adapted to:i) receive the movement input from the operator control;ii) translate the movement input to control output; andiii) send the control output to the robotic overtube controller.

2. The robotic surgical system of claim 1,a) the first drive assembly comprising:i) a first rotatable coupler, adapted and configured to engage a first driven portion of the steerable overtube; andii) a first actuator operatively connected to the first rotatable coupler and configured to effect rotary motion of the first rotatable coupler; andb) the second drive assembly comprising:i) a second rotatable coupler, adapted and configured to engage a second driven portion of the steerable overtube; andii) a second actuator operatively connected to the second rotatable coupler and configured to effect rotary motion of the second rotatable coupler.

3. The robotic surgical system of claim 2, wherein rotary motion of each of the first and second rotatable couplers are transmitted coaxially to cause corresponding rotation of the first driven portion and the second driven portion of the steerable overtube, respectively.323196255V1 53Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC4. The robotic surgical system of claim 2, wherein the first actuator and a second actuator are positioned in parallel with respect to one another.

5. The robotic surgical system of claim 2, wherein the first actuator and the second actuator are arranged coaxially with respect to one another and positioned on the same side of the first rotatable coupler and the second rotatable coupler, respectively.

6. The robotic surgical system of claim 1, wherein the system controller is adapted and configured to translate the movement input to control output, proportionally to a scaling ratio.

7. The robotic surgical system of claim 6, wherein the scaling ratio is selectable by the operator.

8. The robotic surgical system of claim 6, wherein the scaling ratio is preselected and programmed in the system controller.

9. The robotic surgical system of claim 1, wherein the system controller is configured to map a magnitude of movement of the operator control to a degree of rotary motion of the first and second rotatable couplers.

10. The robotic surgical system of claim 1, wherein the system controller is configured to map a degree of rotary motion of the first and second rotatable couplers to a degree of bending of the steerable overtube.

11. The robotic surgical system of claim 1, wherein the system controller is adapted and configured to receive position feedback from the robotic overtube controller of respective rotational positions of the first rotatable coupler and the second rotatable coupler.

12. The robotic surgical system of claim 1, wherein the system controller is adapted and configured to receive position feedback from the robotic overtube controller of respective axial positions of each of the first rotatable couplerand the second rotatable coupler.

13. The robotic surgical system of claim 12, wherein the system controller is adapted and configured to determine an engagement status of each of the first and second rotatable couplers with the first and second driven portions of the steerable overtube, respectively, based on the axial position of each of the first rotatable couplerand the second rotatable coupler.

14. The robotic surgical system of claim 13, further comprising an engagement detector adapted and configure to signal engagement of a body of the steerable overtube with the robotic323196255V1 54Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCovertube controller, the system controller being adapted and configured to receive an engagement signal from the engagement detector.

15. The robotic surgical system of claim 14, wherein if engagement of the body of the steerable overtube with the robotic overtube controller is detected but full engagement is not detected between the first or second rotatable coupler and the first or second driven portion of the steerable overtube, the system controller sends a control output, respectively, to the first or second drive assembly, to rotate until full engagement is detected.

16. The robotic surgical system of claim 15, wherein the system controller is adapted and configured to determine a degree of bending in each of a plurality of directions of the steerable overtube, based on the rotational position of each of the first and second rotatable couplers when fully engaged with the first and second driven portions of the steerable overtube, respectively.

17. The robotic surgical system of claim 1, wherein axial translation of the steerable overtube is effected by corresponding movement of a supportive structure of the robotic overtube controller.

18. The robotic surgical system of claim 1, wherein axial rotation of the steerable overtube is effected by corresponding movement of a supportive structure of the robotic overtube controller.

19. The robotic surgical system of claim 1, further comprising a presence detector configured to detect presence of a sterile drape adapter.

20. A method of robotically manipulating a steerable overtube, comprising:a) receiving a movement input from an operator control;b) translating the movement input to a control output; andc) sending the control output to a robotic overtube controller, the control output including:i) a command to actuate a first drive assembly to drive bending motion of the steerable overtube in first or second opposing directions; andii) a command to actuate a second drive assembly to drive bending motion of the steerable overtube in third or fourth opposing directions.

21. The method of claim 20, wherein the translating step comprises:applying a scaling ratio to the movement input to determine the control output.323196255V1 55Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC22. The method of claim 20, wherein the translating step comprises:mapping a magnitude of movement of the operator control to a degree of rotary motion of the first and second rotatable couplers.

23. The method of claim 20, further comprising:detecting engagement of the steerable overtube with the robotic overtube controller; detecting an axial position of at least one rotatable coupler of the robotic overtube controller;initiating an alignment process if the at least one rotatable coupler is not fully engaged with a corresponding driven portion of the steerable overtube, the alignment process comprising rotating the at least one rotatable coupler;detecting engagement of at least one rotatable coupler with the corresponding driven portion of the steerable overtube; andterminating the alignment process.

24. A non-transitory computer readable medium, comprising computer executable instruction configured to cause a computer to:a) receive a movement input from an operator control;b) translate the movement input to a control output; andc) send the control output to a robotic overtube controller, the control output including:i) a command to actuate a first drive assembly to drive bending motion of a steerable overtube in first or second opposing directions; andii) a command to actuate a second drive assembly to drive bending motion of the steerable overtube in third or fourth opposing directions.

25. A robotic overtube controller for a robotic surgical system comprising:a) a first drive assembly configured to drive bending motion of the steerable overtube in first and second opposing directions, the first drive assembly having:i) a first rotatable coupler (740a), adapted and configured to engage a first driven portion of the steerable overtube; and323196255V1 56Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCii) a first actuator (1181a) operatively connected to the first rotatable coupler (740a) and configured to effect rotary motion of the first rotatable coupler; andb) a second drive assembly configured to drive bending motion of the steerable overtube in third and fourth opposing directions the second drive assembly having:i) a second rotatable coupler (740b), adapted and configured to engage a second driven portion of the steerable overtube; andii) a second actuator (1181b) operatively connected to the second rotatable coupler (740b) and configured to effect rotary motion of the second rotatable coupler.

26. A sterile drape adapter for a robotic overtube controller for a steerable overtube, the sterile drape adapter comprising:a body defining an upper surface configured to couple with at least a portion of a robotic steering interface of the steerable overtube, a lower surface configured to couple with at least a portion of an actuation surface of the robotic overtube controller to create a sterile barrier therebetween, and a first wall extending downwardly from the lower surface of the body;a fitting mechanism extending from the first wall and configured to engage with at least a portion of the robotic overtube controller; anda coupling aperture defined in the body, extending between the upper surface and the lower surface thereof, configured to permit mechanical actuation from the actuation surface to the robotic steering interface.

27. The sterile drape adapter of claim 26, wherein the fitting mechanism comprises one or more resilient clips extending from the first wall, the resilient clips adapted and configured to snap or slide onto one or more corresponding engagement features formed on the robotic overtube controller.

28. The sterile drape adapter of claim 27 , wherein the corresponding engagement features are one or more protrusions.

29. The sterile drape adapter of claim 28, wherein the protrusions are one or more longitudinal ribs defined along an outer surface of the robotic overtube controller.323196255V1 57Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC30. The sterile drape adapter of claim 26, further comprising at least one presence detection aperture defined within the body, the at least one aperture configured to allow at least one controller presence detector of the robotic overtube controller to pass therethrough.

31. The sterile drape adapter of claim 30, the sterile drape adapter having at least one aperture defined therein, wherein the second wall extends upwardly from the body at a position between the at least one aperture and an outer peripheral edge of the body.

32. The sterile drape adapter of claim 30, wherein the first wall is adapted and configured to engage a periphery of a portion of a steerable overtube.

33. The sterile drape adapter of claim 26, further comprising at least one latch aperture defined within the body, the at least one aperture configured to allow at least one latch of the robotic controller to pass therethrough, the latch adapted and configured to engage with the robotic steering interface of the steerable overtube.

34. The sterile drape adapter of claim 26, further comprising a second wall extending upwardly from the upper surface of the body, about a periphery of the body of the sterile drape adapter.

35. The sterile drape adapter of claim 26, wherein the first wall extends downwardly from the lower surface of the body, and is adapted and configured to engage about a periphery of the robotic overtube controller.

36. The sterile drape adapter of claim 26, wherein the fitting mechanism includes a concave engagement feature on an inner surface thereof.

37. The sterile drape adapter of claim 26, further comprising a sterile drape attached thereto, attached along an outer periphery of the drape adapter.

38. The sterile drape adapter of claim 37, wherein the sterile drape is attached to the sterile drape adapter by heat welding, fusing, gluing, taping, or clamping.

39. The sterile drape adapter of claim 37, wherein the sterile drape is integrally formed with the drape adapter.

40. The sterile drape adapter of claim 26, further comprising an alignment tab extending downwardly from the body, adapted to be received within an alignment slot defined in the actuation surface of the robotic overtube controller.323196255V1 58Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC41. The sterile drape adapter of claim 26, further comprising an adapter presence detection feature adapted and configured to engage a corresponding controller presence detector of the robotic overtube controller.

42. The sterile drape adapter of claim 41, wherein the adapter presence detection feature is a protrusion adapted to engage the corresponding controller presence detector, and wherein the corresponding controller presence detector is a push switch.

43. The sterile drape adapter of claim 41, wherein the adapter presence detection feature is a protrusion adapted to be detected by an optical sensor provided on the robotic overtube controller.

44. A sterile drape assembly for a robotic overtube controller for a steerable overtube, the sterile drape assembly comprising:a body defining an upper surface configured to couple with at least a portion of a robotic steering interface of the steerable overtube, a lower surface configured to couple with at least a portion of an actuation surface of the robotic overtube controller to create a sterile barrier therebetween, and a first wall extending downwardly from the lower surface of the body;a fitting mechanism extending from the first wall and configured to engage with at least a portion of the robotic overtube controller;a coupling aperture defined in the body, extending between the upper surface and the lower surface thereof, configured to permit mechanical actuation from the actuation surface to the robotic steering interface; anda sterile drape attached to the sterile drape adapter along an outer periphery thereof.

45. The sterile drape assembly of claim 44, wherein the sterile drape is shaped to complement an outer form of at least a portion of the robotic overtube controller.

46. A presence detection system for a surgical robot comprising:a first portion provided on the surgical robot having an electrically open electrical detection circuit operatively connected to a system controller, the system controller detecting electrical closure of the electrical detection circuit; and323196255V1 59Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCa second portion provided on a removable accessory for the surgical robot, the second portion adapted and configured to electrically close the electrical detection circuit when the accessory is correctly positioned in a designated position on the surgical robot.

47. The presence detection system of claim 46, wherein the second portion includes an electrically conductive element.

48. The presence detection system of claim 47, wherein the electrically conductive element is a planar element configured to bridge a gap in the electrical detection circuit by contacting distal ends of two or more electrical contacts of the first portion.

49. The presence detection system of claim 47, wherein the electrically conductive element of the second portion is adapted and configured to be interposed between the two or more electrical contacts of the first portion, when the second portion is in the designated position.

50. The presence detection system of claim 46, wherein the second portion is adapted and configured to urge movable contacts of the electrical detection circuit into mutual contact.

51. The presence detection system of claim 50, wherein the second portion includes one or more cam surfaces adapted and configured to capture, and urge together the movable contacts of the electrical detection circuit as the second portion is moved toward the designated position, and to maintain contact between the movable contacts when the second portion is in the designated position.

52. The presence detection system of claim 46, wherein the first portion includes an electrically conductive latch adapted and configured to engage and retain an electrically conductive catch of the second portion.

53. The presence detection system of claim 52, wherein the first portion includes a latch release button to disengage the electrically conductive latch from the electrically conductive catch.

54. A sterile drape adapter for a robotic overtube controller for a steerable overtube, the sterile drape adapter comprising:a body defining an upper surface configured to couple with at least a portion of a robotic steering interface of the steerable overtube, a lower surface configured to couple with at least a portion of an actuation surface of the robotic overtube controller to create a sterile barrier therebetween, and a first wall extending downwardly from the lower surface of the body;323196255V1 60Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PCa fitting mechanism extending from the first wall and configured to engage with at least a portion of the robotic overtube controller;a coupling aperture defined in the body, extending between the upper surface and the lower surface thereof, configured to permit mechanical actuation from the actuation surface to the robotic steering interface; andan adapter presence detection feature adapted and configured to engage a corresponding controller presence detector of the robotic overtube controller, wherein the adapter presence detection feature is an electrically conductive element provided on the sterile drape adapter, adapted to engage a plurality of electrical contacts provided on the robotic overtube controller to close a detection circuit.

55. The sterile drape adapter of claim 54, wherein the adapter presence detection feature is a metal insert molded into the sterile drape adapter.

56. The sterile drape adapter of claim 54, wherein the adapter presence detection feature is a foil tape applied to a portion of the sterile drape adapter.

57. A sterile drape adapter for a robotic overtube controller for a steerable overtube, the sterile drape adapter comprising:a body defining an upper surface configured to couple with at least a portion of a robotic steering interface of the steerable overtube, a lower surface configured to couple with at least a portion of an actuation surface of the robotic overtube controller to create a sterile barrier therebetween, and a first wall extending downwardly from the lower surface of the body;a fitting mechanism extending from the first wall and configured to engage with at least a portion of the robotic overtube controller; anda coupling aperture defined in the body, extending between the upper surface and the lower surface thereof, configured to permit mechanical actuation from the actuation surface to the robotic steering interface.

58. The sterile drape adapter of claim 57, further comprising a second wall extending upwardly from the upper surface of the body, about a periphery of the body of the sterile drape adapter.

59. The sterile drape adapter of claim 58, wherein the second wall includes a seal on the upper portion thereof, adapted and configured to seal against a portion of a steerable overtube.323196255V1 61Attorney Docket No. 626278.100236(126WO2) | | CBMX0029PC60. The sterile drape adapter of claim 58, wherein a seal is provided on the upper surface of the substantially planar body, within the second wall, adapted and configured to seal against a portion of a steerable overtube.

61. The sterile drape adapter of claim 57, further comprising a sterile removable protector releasably secured thereto, adapted to cover a substantial portion of any apertures defined within the body of the sterile drape adapter.

62. The sterile drape adapter of claim 61, wherein the sterile removable protector is adapted to be reapplied to the sterile drape adapter following removal therefrom.323196255V1 62

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