CN107440799B - Surgical system for performing natural translumenal endoscopic procedures - Google Patents

Surgical system for performing natural translumenal endoscopic procedures Download PDF

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CN107440799B
CN107440799B CN201710713625.6A CN201710713625A CN107440799B CN 107440799 B CN107440799 B CN 107440799B CN 201710713625 A CN201710713625 A CN 201710713625A CN 107440799 B CN107440799 B CN 107440799B
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instrument
shoulder
assembly
driven
arm assembly
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CN107440799A (en
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杨重光
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Intelligent Microinvasive Medicine Hong Kong Co ltd
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Bio Medical Engineering HK Ltd
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Priority claimed from US15/340,678 external-priority patent/US9855108B2/en
Priority claimed from PCT/CN2017/086203 external-priority patent/WO2018082295A1/en
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Priority to CN201811341494.4A priority Critical patent/CN109893179B/en
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B2034/305Details of wrist mechanisms at distal ends of robotic arms

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Robotics (AREA)
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Abstract

Example embodiments are directed to a surgical system including an end effector assembly and a first arm assembly. The end effector assembly may include a first instrument assembly including a first instrument configurable to move relative to a first axis and a wrist assembly having a wrist driven portion configurable to be driven to move the first instrument relative to a second axis. The first arm assembly may include a first arm assembly coupling portion for coupling the first arm assembly to the second arm assembly, a wrist driving portion configured to drive the wrist driven portion, and an elbow driven portion configured to be driven to move the first arm assembly relative to the third axis. The second arm assembly may include an elbow drive assembly having a first integrated motor and an elbow drive section controllable by the first integrated motor to drive the elbow driven section.

Description

Surgical system for performing natural translumenal endoscopic procedures
Cross Reference to Related Applications: this application is a continuation-in-part application of U.S. application No.14/693,207 (which was filed on day 22/4/2015, and claims priority to U.S. provisional application No.61/982,717, which was filed on day 22/4/2014), U.S. application No.15/044,895 (which was filed on day 16/2/2016, and is a continuation-in-part application of U.S. application No.14/693,207), and U.S. application No.15/044,889 (which was filed on day 16/2/2016, and is a continuation-in-part application of U.S. application No.14/693,207),the contents of all of these applications are hereby expressly incorporated by reference in their entirety, including the contents and teachings of any references contained therein.
Technical Field
The present disclosure relates generally to systems, devices, and methods, and more particularly, to systems, devices, and methods for performing surgery via a single incision or natural orifice.
Background
Conventional surgery will typically require one or more large incisions to be made to the patient in order for the surgical team to perform the surgical action. With the development of medical science and technology, most of the conventional open surgical procedures have been largely replaced by Minimally Invasive Surgery (MIS) procedures. Recent developments in computer-assisted and/or robotic surgical techniques have prompted MIS development, including the ability to translate the surgeon's desired actions into movement of the robotic instrument inside the patient's body cavity.
Disclosure of Invention
Despite recent advances in modern medical science and technology, it is recognized in this disclosure that one or more problems are encountered in modern surgical techniques and procedures. For example, typical MIS procedures require multiple incisions in the patient to allow access through these incisions for inserting a camera and various other laparoscopic instruments into the body cavity of the patient.
As another example, surgical robotic devices often encounter difficulties during surgery because the anchoring and/or reaction forces are not sufficiently stable against the forces expected or necessary to be applied during the surgical action.
It is also recognized in the present disclosure that surgical robotic systems face the difficulty of providing an access channel for an instrument (such as a cutting or grasping instrument attached to a surgical robotic arm) to all, or even most, portions, regions, and/or quadrants of a patient's abdominal cavity. That is, after the surgical robotic arm is inserted into the patient's abdominal cavity and is ready to perform a surgical action, instruments attached to the end of the surgical robotic arm are typically limited to accessing only certain portions, areas, and quadrants of the patient's abdominal cavity.
In yet another example, known surgical robotic systems typically provide only one to between two surgical robotic arms per access channel or opening (such as an incision or natural orifice) of a patient. In this regard, insertion of the camera and various laparoscopic instruments into the abdominal cavity of the patient will require one or more additional incisions.
As another example, while known surgical robotic systems have been designed to perform forward-facing surgical procedures in a patient's abdominal cavity, such systems have not been designed for situations requiring reverse-facing surgical procedures, and problems may be encountered when applied to these situations. For example, such known surgical robotic systems have not been designed for deployment through a natural orifice (such as the rectum or vagina) for performing natural orifice endoscopic surgery (or NOTES), such as gynecological pelvic and/or urological procedures. Such systems may suffer from one or more problems, such as the inability to access certain organs, tissues or other surgical sites when inserted into a natural orifice.
The present example embodiments are generally directed to systems, apparatuses, and methods for addressing one or more problems in surgical robotic systems, apparatuses, and methods (including those described above and herein).
In an exemplary embodiment, a surgical system is described in the present disclosure. The surgical system may be used to perform Natural Orifice Transluminal Endoscopic Surgery (NOTES). The surgical system can include an end effector assembly and a first arm assembly securable to the end effector assembly. The end effector assembly may include a first instrument assembly and a wrist assembly. The first instrument assembly may include a first instrument for performing a surgical action, the first instrument being configurable to move relative to a first axis. The wrist assembly may be securable to the first instrument assembly. The wrist assembly may include a wrist driven portion configurable to be driven in such a manner as to move the first instrument relative to a second axis, the second axis being different from the first axis. The first arm assembly may include a first arm assembly coupling (joint) portion, a wrist driving portion, and an elbow driven portion. The first arm assembly coupling portion may be for coupling the first arm assembly to the second arm assembly. The wrist driving portion may be configurable to drive the wrist driven portion. The elbow driven portion may be configurable to be driven in such a manner as to move the first arm assembly relative to the third axis. The second arm assembly may include a second arm assembly body and a elbow drive assembly. The second arm assembly body may include a first end and a second end opposite the first end. The elbow drive assembly may be securely received in the second arm assembly body. The elbow drive assembly may include at least a first integrated motor and an elbow drive section. The elbow driving section may be controllable by the first integrated motor to drive the elbow driven section.
In another exemplary embodiment, a surgical system is described in the present disclosure. The surgical system may be used to perform Natural Orifice Transluminal Endoscopic Surgery (NOTES). The surgical system may include an end effector assembly, a first arm assembly, and a second arm assembly. The end effector assembly may include a first instrument assembly having a first instrument for performing a surgical action, the first instrument being configurable for movement relative to a first axis. The first arm assembly may be securable to the end effector assembly. The first arm assembly may include a first arm assembly coupling portion for coupling the first arm assembly to the second arm assembly. The first arm assembly coupling portion may include an elbow driven portion that is configurable to be driven in such a manner as to move the first arm assembly relative to the second axis. The second axis may be formed through the first arm assembly coupling portion. The second arm assembly may include a second arm assembly body and a elbow drive assembly. The second arm assembly body may include a first end and a second end opposite the first end. The elbow drive assembly may be securely housed in the second arm assembly body. The elbow drive assembly may include at least a first integrated motor and an elbow drive section. The elbow driving section may be controllable by the first integrated motor to drive the elbow driven section.
In another exemplary embodiment, a surgical system is described in the present disclosure. The surgical system may be used to perform Natural Orifice Transluminal Endoscopic Surgery (NOTES). The surgical system may include an end effector assembly, a first arm assembly, and a second arm assembly. The end effector assembly may include a first instrument assembly having a first instrument for performing a surgical action, the first instrument being configurable to move relative to a first axis. The first arm assembly may be securable to the end effector assembly. The second arm assembly may include a second arm assembly body, a shoulder pitch driven portion, a shoulder pitch drive assembly, a shoulder yaw driven portion, and a shoulder yaw drive assembly. The second arm assembly may include a second arm assembly body having a first end and a second end opposite the first end. The first end of the second arm assembly body may be secured to the first arm assembly and the second end of the second arm assembly body may be secured to the port assembly. The shoulder pitch driven portion may be configurable to be driven in such a manner as to move the second arm assembly relative to the port assembly in a first direction. The shoulder pitch drive assembly may be securely housed in the second arm assembly body. The shoulder pitch drive assembly may comprise at least a first integrated motor and a shoulder pitch drive section. The shoulder pitch drive portion may be controllable by the first integrated motor to drive the shoulder pitch driven portion. The shoulder yaw driven portion may be configurable to be driven in such a manner as to move the second arm assembly relative to the port assembly in a second direction, the second direction being different from the first direction. The shoulder yaw drive assembly may be securely housed in the second arm assembly body. The shoulder yaw drive assembly may include at least a second integrated motor and a shoulder yaw drive portion. The shoulder yaw drive section may be controllable by a second integrated motor to drive the shoulder yaw driven section.
Drawings
For a more complete understanding of the present disclosure, example embodiments, and advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which like reference numbers indicate like features, and:
FIG. 1A is an illustration of a perspective view of an example embodiment of an external anchor;
FIG. 1B is another illustration of a perspective view of an example embodiment of an external anchor attached to an example embodiment of a port assembly;
FIG. 2A is an illustration of a perspective view of an example embodiment of a surgical device configured in an oppositely oriented position having a port assembly, an instrument arm assembly, and an image capture assembly;
FIG. 2B is an illustration of a perspective view of an example embodiment of a surgical device configured in a forward-facing position having a port assembly, an instrument arm assembly, and an image capture assembly;
FIG. 3A is another illustration of a perspective view of another example embodiment of a surgical device having a port assembly, an instrument arm assembly, and an image capture assembly, configured in opposing positions;
FIG. 3B is another illustration of a perspective view of another example embodiment of a surgical device configured in a forward-facing position having a port assembly, an instrument arm assembly, and an image capture assembly;
FIG. 4A is an illustration of a perspective exploded view of an exemplary embodiment of a port assembly;
FIG. 4B is an illustration of a side view of an example embodiment of a port assembly;
FIG. 4C is an illustration of a cross-sectional view of an example embodiment of a port assembly with the first or second gate assembly in an open position;
FIG. 4D is an illustration of a cross-sectional view of an example embodiment of a port assembly with a first or second gate assembly in a closed position;
FIG. 5A is an illustration of a side view of an example embodiment of an instrument arm assembly;
FIG. 5B is another illustration of a side view of an example embodiment of an instrument arm assembly;
FIG. 5C is an illustration of a perspective view of an example embodiment of an instrument arm assembly;
FIG. 5D is an illustration of a side view of an example embodiment of an end effector assembly secured to an arm assembly;
FIG. 5E is an illustration of a side cross-sectional view of an example embodiment of an end effector assembly secured to an arm assembly;
FIG. 5F is an illustration of a side view of an example embodiment of an end effector assembly released from an arm assembly;
FIG. 5G is an illustration of a side cross-sectional view of an example embodiment of an end effector assembly released from an arm assembly;
FIG. 5H is an illustration of a perspective view of an example embodiment of an end effector assembly;
FIG. 5I is an illustration of a perspective view of an exemplary embodiment of an instrument having an insulating portion;
FIG. 5J is an illustration of a top cross-sectional view of an exemplary embodiment of an arm assembly;
FIG. 5K is an illustration of a perspective view of an exemplary embodiment of an arm assembly;
FIG. 5L is an illustration of a side view of an example embodiment of an instrument arm assembly;
FIG. 5M is an illustration of a side cross-sectional view of an example embodiment of an instrument arm assembly;
FIG. 5N is an illustration of a top cross-sectional view of an exemplary embodiment of a second arm assembly;
FIG. 5O is an illustration of a transparent partial perspective view of an example embodiment of an instrument arm assembly;
FIG. 6A is an illustration of a perspective view of an example embodiment of an image capture assembly;
FIG. 6B is an illustration of a cross-sectional view of another example embodiment of an image capture assembly having an internal temperature control assembly;
FIG. 6C is an illustration of a perspective view of another example embodiment of an image capture assembly having an internal temperature control assembly;
FIG. 6D is an illustration of a perspective view of the system including the second image capturing assembly as operating in a cavity of a patient;
FIG. 7 is a flow chart of an exemplary method for configuring a surgical device;
8A-8E are illustrations of side views of an example embodiment of a method of deploying a surgical device in a forward-facing position;
8F-8K are illustrations of side views of an example embodiment of a method of deploying a surgical device in an opposite orientation;
FIG. 9A is an illustration of a perspective view of an example embodiment of a surgical device system;
FIG. 9B is an illustration of a perspective view of another example embodiment of a surgical device system;
FIG. 10A is an illustration of a perspective view of an example embodiment of an external anchor; and
fig. 10B is an illustration of a perspective view of another example embodiment of an external anchor.
While for convenience, like reference numerals may be used to refer to like elements in the figures, it will be appreciated that each of the various exemplary embodiments may be considered an entirely different variation.
Detailed Description
Example embodiments will now be described with reference to the accompanying drawings, which form a part hereof and which illustrate example embodiments that may be practiced. As used in this disclosure and the appended claims, the terms "example embodiment," "example embodiment," and "the present embodiment" do not necessarily refer to a single embodiment, although they may, and various example embodiments may, be readily combined and/or interchanged without departing from the scope or spirit of the example embodiments. Furthermore, the terminology as used in the present disclosure and the appended claims is for the purpose of describing example embodiments only and is not intended to be limiting. In this regard, as used in this disclosure and the appended claims, the term "in … …" may include "in … …" and "on … …", and the terms "a, an" and "the" may include both singular and plural references. Furthermore, as used in this disclosure and the appended claims, the term "by" may also mean "from," depending on the context. Furthermore, as used in this disclosure and the appended claims, the term "if" may also mean "when … …" or "when … …", depending on the context. Furthermore, as used in this disclosure and the appended claims, the word "and/or" may refer to and encompass any and all possible combinations of one or more of the associated listed items.
It is recognized in this disclosure that despite recent advances in modern medical science and technology, one or more problems are encountered in modern surgical techniques and methods (including MIS). For example, typical MIS procedures require multiple incisions in the patient to allow access through the incisions for insertion of a camera and various other laparoscopic instruments into the abdominal cavity of the patient.
In addition to the aforementioned drawbacks associated with many relatively large incisions, it is recognized in the present disclosure that surgical robotic systems including surgical robotic arms (and those instruments attached thereto) developed for performing robot-assisted MIS surgery also suffer from one or more problems. For example, it is recognized herein that a major technical challenge of surgical robotic systems is the difficulty of providing anchoring forces and/or reaction forces that are sufficiently stable against the forces expected and/or necessary to be applied to a patient by the surgical robotic system during a surgical action. In this regard, certain surgical actions with respect to known surgical robotic systems may require significant effort and time, and may not be performed properly or at all as a result of problems with insufficient anchoring and/or reaction forces.
Another example of a problem recognized in the present disclosure as being encountered with surgical robotic systems is the difficulty in providing access to instruments, such as cutting and/or grasping instruments attached to the end of a surgical robotic arm, to all or even most portions, areas, and quadrants of a patient's abdominal cavity after the surgical robotic system has been set up (or installed) and is ready to perform a surgical procedure. That is, after the surgical robotic arm of the system has been inserted, attached, and properly positioned in the patient's abdominal cavity and is ready to perform a surgical action, the instruments attached to the end of the surgical robotic arm are typically limited to accessing only certain portions, areas, and quadrants of the patient's abdominal cavity. It is recognized in the present disclosure that such problems are primarily due to the limited number of possible degrees of freedom that the known surgical robotic systems and arms can provide, and more specifically, the limited number of in vivo degrees of freedom of the known surgical robotic systems and arms (i.e., the degrees of freedom provided within the abdominal cavity of the patient). In this regard, surgical robotic systems typically provide only between 2 and 4 in vivo degrees of freedom for each surgical robotic arm.
As another example, while known surgical robotic systems have been designed for performing forward-directed surgical procedures in the abdominal cavity of a patient, such systems have not been designed for situations requiring reverse-directed surgical procedures, and may encounter problems when applied to these situations. For example, such known surgical robotic systems have not been designed to be deployed through a natural orifice (such as the rectum or vagina) for performing natural orifice endoscopic surgery (or NOTES), such as transvaginal gynecological surgery in women and transrectal urological surgery in men. Such systems may suffer from one or more problems, such as the inability to access certain organs, tissues or other surgical sites when inserted into the natural orifice.
Surgical systems, devices, and methods (including those used in MIS and natural transluminal endoscopic surgery (or NOTES)) are described in the present disclosure for addressing one or more problems of known surgical systems, devices, and methods (including those described above and in the present disclosure). It is to be understood that the principles described in this disclosure may be applied outside of the context of MIS and/or NOTES without departing from the teachings of the disclosure, such as to perform scientific experiments and/or procedures in environments not readily accessible to humans (including in vacuum, in space, and/or in toxic and/or hazardous conditions).
Surgical system (e.g., surgical device 200)
Depicted in fig. 2A and 2B is an illustration of an example embodiment of a surgical device or system (e.g., a surgical device or system 200) operable to be inserted into a patient's abdominal cavity through a single access channel or opening (e.g., a single incision, such as an incision in or around the umbilical region) or through a natural orifice of the patient, such as the rectum or vagina, hereinafter "opening," for performing natural orifice endoscopic surgery (or NOTES). The surgical device may then be anchored to position the surgical device 200 in the opening. The surgical device 200 may include a port assembly 210 and an instrument arm assembly 230. The surgical device 200 may also include other elements, such as one or more instrument arm assemblies, one or more image capture assemblies, one or more accessory arm assemblies, and the like.
As shown in fig. 1A and 1B, the surgical device 200 may be provided with an external anchor 1 attachable to a port assembly 210. The external anchor 1 may include a configurable assembly of segments 2, 6, 10 and 14 and an external anchor connector 16, with the segments 2, 6, 10 and 14 communicating with each other via couplings or connecting portions 4,8 and 12. The external anchor 1 may be operable to securely fix the position and/or orientation (hereinafter "position") of the port assembly 210 in or around a single opening of a patient, and may also be operable to provide anchoring and/or reaction forces sufficient to stabilize against forces expected or necessary to be applied by at least one or more instruments of the surgical device 200, including the instrument arm assembly 230, during a surgical action or procedure. External anchor 1, which may also be in the form of a controllable slewing assembly 1000 shown in fig. 10A and 10B, may be operable to cooperate with port assembly 210 to provide one or more degrees of freedom in vitro. For example, the external anchor 1 may be configurable to provide 3 degrees of freedom outside the body. In an example embodiment, the one or more in vitro degrees of freedom may include a twisting motion, a pivoting motion, a telescoping motion, and/or other motion of the port assembly 210 relative to the external anchor 1. For example, the twisting motion of the port assembly 210 as shown by arrow a in fig. 1B may allow one or more attached instruments (including the instrument arm assembly 230) to be repositioned during surgery (i.e., after deployment or installation) to access other portions, regions, and/or all quadrants of the patient's abdominal cavity. As another example, pivotal movement of the port assembly 210, as shown by arrow B in fig. 1B, may allow the port assembly 210 to be positioned at one of a plurality of angles relative to the opening of the patient, and may also allow the attached instrument (including the instrument arm assembly 230) to be repositioned during surgery (i.e., after placement or installation) to access a distal region of the abdominal cavity of the patient. Other coupling portions of external anchor 1 may also be operable to assist and/or facilitate desired movement of port assembly 210. The external anchor 1 may be anchored to one or more stationary or fixedly positioned objects, such as the side rail 300 of the operating table/bed shown in fig. 1A. Fig. 10A and 10B illustrate other example motions that provide additional degrees of freedom in vitro via an example embodiment of an external anchor (controllable slewing assembly) 1000. The controllable slewing assembly 1000 will be further described below in at least part "(1) providing an external anchor and installing a port assembly".
The surgical device 200 may further include one or more additional instrument arm assemblies, such as the second instrument arm assembly 240 shown in fig. 3A and 3B, that may be attached to the port assembly 210. One or more of the instrument arm assemblies, including the first instrument arm assembly 230, the second instrument arm assembly 240, the third instrument arm assembly (not shown), the fourth instrument arm assembly (not shown), etc., may be attachable or securable to the port assembly 210. Such an instrument arm assembly may be operable to access and perform one or more surgical actions on any and all portions, regions, and/or quadrants within a cavity of a patient. For example, the surgical device 200 may be configured to perform a surgical action in a forward direction (or "forward position") (e.g., as shown in fig. 2B and 3B). As another example, the surgical device 200 may be configurable to perform a surgical action in an opposite direction (or "opposite position") (e.g., as shown in fig. 2A and 3A).
Surgical device 200 may also include one or more image capture components, such as image capture component 220. The surgical device 200 can further include one or more accessory arm assemblies, such as the retractor arm assembly 250 shown in fig. 2A, 2B, 3A, and 3B. In addition, surgical device 200 may include one or more other instrument arm assemblies, such as suction/irrigation assemblies 260 shown in fig. 2A, 2B, 3A, and 3B, that may be inserted into the opening of the patient via port assembly 210 before, during, and/or after performing a surgical action or procedure. It is understood in this disclosure that the surgical device 200 may be configured in a variety of configurations and arrangements, including having more or less than two instrument arm assemblies (such as a third, fourth, fifth, etc. instrument arm assembly), more than one image capturing assembly (such as a second, third, etc. image capturing assembly), more or less than one assistive arm assembly (such as a second, third, etc. assistive arm assembly), and/or more or less than one other laparoscopic tool, in example embodiments, without departing from the teachings of this disclosure.
Port subassembly (e.g., port subassembly 210)
Example embodiments of a port assembly (e.g., port assembly 210) are illustrated in fig. 2A, 2B, 3A, 3B, 4A, 4B, 4C, and 4D. Port assembly 210 may be configured to be inserted into or around a single opening of a patient (such as a single incision or natural orifice) and secured in place at least by an external anchor (such as external anchor 1 shown in fig. 1A and 1B and controllable swivel assembly 1000 shown in fig. 10A and 10B).
The port assembly 210 may be an elongated structure having a central access channel 210a, the central access channel 210a being formed through the port assembly 210. The central access channel 210a may be used for insertion and removal of instruments, such as one or more instrument arm assemblies 230, 240, one or more image capture assemblies 220, one or more accessory arm assemblies 250, 260, and the like. In an example embodiment, port assembly 210 may include a first end segment 212 and a second end segment 214. The first end section 212 and the second end section 214 may be fixedly attached to each other or formed as a single object. Port assembly 210 may also include an intermediate segment 213 between first end segment 212 and second end segment 214. The first end section 212, the second end section 214, and the intermediate section 213 may be fixedly attached to each other as shown in fig. 4A and 4B, or two or more of these sections may be formed as a single object. In an example embodiment, first end segment 212 may be the portion of port assembly 210 that is secured to external anchor 1, and port assembly 210 may be secured in a position at an angle θ of between about 0 degrees and +/-90 degrees relative to a single opening of a patient. These and other elements of the port assembly 210 will now be described below with reference to fig. 2A, 2B, 3A, 3B, and 4A-D.
As shown in at least fig. 4A and 4B, port assembly 210 may include a first end segment 212. First end segment 212 may have a first end passage 212a formed through first end segment 212. The first end passage 212a may be considered to be part of the central access passage 210 a. The first end segment 212 may also include a portion operable to be secured to the external anchor 1, such as an outer portion of the first end segment 212.
As shown in fig. 4A, 4C, and 4D, first end segment 212 may also include a first gate assembly 212b. The first gate assembly 212 may be configurable to control access through the first end passage 212a. For example, the first gate assembly 212b may be configurable in an open position as shown in fig. 4C to allow access through the first end passage 212a. The first gate assembly 212b may also be configurable in a closed position as shown in fig. 4D to block or restrict access through the first end passage 212a. The first gate assembly 212b may also be configurable in a partially closed (or partially open) position (not shown). The first gate assembly 212b may also be configurable to transition between a closed position and an open position.
In an example embodiment, the first gate assembly 212b may be provided within the first end section 212 in such a manner that the first end channel 212a is substantially or completely unobstructed by the first gate assembly 212b when the first gate assembly 212b is configured in the open position as shown in fig. 4C. When the surgeon desires to insert an instrument into (or remove an instrument from) a patient's cavity via the first end passage 212a (and the remainder of the central access passage 210 a), the first gate assembly 212b may be configured in the open position.
Similarly, the first gate assembly 212b may be provided within the first end section 212 in such a manner that the first end channel 212a is substantially or completely blocked by the first gate assembly 212b when the first gate assembly 212b is configured in the closed position as shown in fig. 4D. The first gate assembly 212b can be configured in the closed position when the surgeon desires to maintain insufflation of the patient's cavity, and/or when the surgeon does not need to insert an instrument into (or remove an instrument from) the patient's cavity via the first end passage 212a.
The first gate assembly 212b can include a first deployable portion 212b that can be configured to deploy when the first gate assembly 212b is configured to the closed position, as shown in fig. 4D. When the first gate assembly 212b is configured to the closed position, the first deployable portion 212b can be operable to substantially or completely block passage of gaseous media (and/or other media) through the first end passageway 212a, among other operations. For example, if the patient's cavity is using a gas (such as carbon dioxide (CO)) 2 ) The first gate assembly 212b (i.e., the first deployable portion 212 b) may be configured to substantially prevent carbon dioxide gas from exiting the patient's cavity through the first end passageway 212a when insufflated.
The first expandable portion 212b may include one or more first expandable members. For example, as shown in fig. 4C and 4D, the first expandable portion 212b may include six expandable members. It is understood that the first expandable portion 212b may include more or less than six expandable members without departing from the teachings of the present disclosure. Some or all of the first expandable members may be integrated together and/or in communication with each other, such as in a manner in which some or all of the first expandable members are operable to receive pressure (i.e., gaseous medium) from a common or same first source 212 b'. For example, when the first gate assembly 212b is configured to the closed position, the first source 212b' may be configurable to provide a positive pressure (i.e., supply gas) to deploy some or all of the first deployable members and block the first end passage 212a (e.g., sealingly block the first end passage 212 a). Similarly, when the first gate assembly 212b is configured to the open position, the first source 212b' may be configurable to provide a negative pressure (i.e., remove gas) so as to cause one or more (or all) of the first deployable members to not deploy (and/or retract) and not block the first end passage 212a. It is understood that more than one first source 212b' may provide positive and negative pressure to the one or more deployable members without departing from the teachings of the present disclosure.
It is recognized in the present disclosure that the first gate assembly 212b may include a valve (not shown) or the like in addition to or in place of the first deployable portion 212b. The valve may be configured to perform substantially the same action of blocking the first end passage 212a when the first gate assembly 212b is configured to the closed position and unblocking the first end passage 212a when the first gate assembly 212b is configured to the open position. The valve may be any type of valve that may be configured to perform the actions described above and in the present disclosure. The valve may include, but is not limited to, a ball valve, a gate valve, etc., so long as the valve may be configured to substantially block/unblock the first end passage 212a and prevent gaseous media from passing through the first end passage 212a.
As shown in at least fig. 4A and 4B, port assembly 210 may also include a second end segment 214. Second end segment 214 may have a second end passage 214a formed through second end segment 214. The second end passage 214a may be substantially or completely aligned with the first end passage 212a. In an example embodiment, the second end passage 214a and the first end passage 212a may be considered to be part of the central access passage 210 a. The second end section 214 may also include an insufflation port (not shown) for providing insufflation to the patient's lumen.
As shown in fig. 4A, 4C, and 4D, the second end segment 214 may also include a second gate assembly 214b. The second gate assembly 214 may be configurable to control access through the second end passage 214a. For example, the second gate assembly 214b may be configurable in an open position as shown in fig. 4C to allow access through the second end passage 214a. The second gate assembly 214b may also be configurable in a closed position as shown in fig. 4D to block or restrict access through the second end passage 214a. The second gate assembly 214b may also be configurable in a partially closed (or partially open) position (not shown). The second gate assembly 214b may also be configurable to transition between a closed position and an open position.
In an example embodiment, the second gate assembly 214b may be provided within the second end section 212 in such a manner that the second end passage 214a is substantially or completely unobstructed by the second gate assembly 214b when the second gate assembly 214b is configured in the open position as shown in fig. 4C. When the surgeon desires to insert an instrument into (or remove an instrument from) a patient's cavity via the second end passage 214a (and the remainder of the central access passage 210 a), the second gate assembly 214b may be configured in the open position.
Similarly, a second gate assembly 214b may be provided within the second end section 214 in such a manner that the second end passage 214a is substantially or completely blocked by the second gate assembly 214b when the second gate assembly 214b is configured in the closed position as shown in fig. 4D. The second gate assembly 214b may be configured in the closed position when the surgeon desires to maintain insufflation of the cavity of the patient, and/or when the surgeon does not need to insert (or remove) an instrument into (or from) the cavity of the patient via the second end passage 214a.
The second gate assembly 214b can include a second deployable portion 214b that can be configured to deploy when the second gate assembly 214b is configured to the closed position, as shown in fig. 4D. When the second gate assembly 214b is configured to the closed position, the second deployable portion 214b may be operable to substantially or completely block the passage of gaseous media (and/or other media) through the second end passage 214a, among other operations. For example, if the patient's cavity is using a gas (such as carbon dioxide (CO)) 2 ) The second gate assembly 214b (i.e., the second deployable portion 214 b) may be configured to substantially prevent carbon dioxide gas from exiting the patient's cavity through the second end passageway 214a when insufflated.
The second expandable portion 214b may include one or more second expandable members. For example, as shown in fig. 4C and 4D, the second expandable portion may include six expandable members. It is understood that the second expandable portion 214b may include more or less than six expandable members without departing from the teachings of the present disclosure. Some or all of the second expandable members may be integrated together and/or in communication with each other, such as in a manner in which some or all of the second expandable members are operable to receive pressure (i.e., gaseous medium) from a common or identical second source 214 b'. For example, when the second gate assembly 214b is configured to the closed position, the second source 214b' may be configurable to provide a positive pressure (i.e., supply gas) to deploy some or all of the second deployable member and block the second end passage 214a (e.g., sealingly block the second end passage 214 a). Similarly, when the second gate assembly 214b is configured to the open position, the second source 214b' may be configurable to provide a negative pressure (i.e., remove gas) so as to un-deploy (and/or retract) some or all of the second deployable members and un-block the second end passage 214a. It is understood that more than one second source 214b' may provide positive and negative pressure to the one or more deployable members without departing from the teachings of the present disclosure. It is also understood in this disclosure that one or more of the first source 212b 'and the second source 214b' may be the same or different sources.
It is recognized in the present disclosure that the second gate assembly 214b may include a valve (not shown) or the like in addition to or in place of the second deployable portion 214b. The valve may be configured to perform substantially the same action of blocking the second end passage 214a when the second gate assembly 214b is configured to the closed position and unblocking the second end passage 214a when the second gate assembly 214b is configured to the open position. The valve may be any type of valve that may be configured to perform the actions described above and in the present disclosure. The valve may include, but is not limited to, a ball valve, a gate valve, etc., so long as the valve may be configured to substantially block/unblock the second end passage 214a and prevent the passage of gaseous media through the second end passage 214a.
As shown in fig. 4A and 4B, the second end segment 214 may also include one or more anchor ports 216. Each anchor port 216 may be operable to enable the instrument arm assembly 230 or 240, the image capture assembly 220, and/or the assistive arm assembly 250 or 260 to be secured to and released from the port assembly 210. Each anchor port 216 may be formed into any one or more of a variety of shapes, holes, slots, recesses, protrusions, hooks, fasteners, magnets, buckles, and the like, including those described above and in the present disclosure. For example, as shown in fig. 4A and 4B, one or more of the anchor ports 216 may include one or more slots or the like operable to allow the shoulder segment 231 of the instrument arm assembly 230 or 240 to be inserted and attached.
In an example embodiment, as shown in at least fig. 4A and 4B, the port assembly 210 may further include an intermediate section 213. The intermediate section 213 may have an intermediate section channel 213a formed through the intermediate section 213. The middle segment channel 213a may be substantially or completely aligned with the first end channel 212a and/or the second end channel 214a. In this regard, in an example embodiment, the middle section channel 213a and the first end channel 212a and/or the second end channel 214a may be considered to be part of the central access channel 210 a. The intermediate section 213 may also include an air injection port (not shown) in addition to or in place of the air injection port (not shown) of the second end section 214. In some example embodiments, the intermediate section 213 may also include an intermediate section gate assembly (not shown) similar to the first gate assembly 212 and the second gate assembly 214 described above and in the present disclosure.
In an example embodiment, the middle section channel 213a may be operable to cooperate with the first and second gate assemblies 212b and 214b to function as an isolation chamber for an instrument (such as the instrument arm assembly 230 or 240, the image capture assembly 220, the accessory arm assembly 250 or 260, and the like). For example, when an instrument (such as instrument arm assembly 230) needs to be inserted into the patient's cavity via port assembly 220 (or central access channel 210 a) and insufflation of the patient's cavity needs to be maintained, first gate assembly 212b may be configured to an open position to allow the instrument to be inserted into intermediate section channel 213a. After the instrument (or a substantial portion thereof) passes through the first gate assembly 212b, the first gate assembly 212b may be configured to a closed position. The second gate assembly 214b may then be configured to an open position to allow an instrument to be inserted further through the port assembly 210. After the instrument (or a substantial portion thereof) passes through the second gate assembly 214b, the second gate assembly 214b may be configured to a closed position.
With respect to the central access channel 210a, the central access channel 210a may include or be formed by the first end channel 212a, the second end channel 214a, and/or the intermediate section channel 213a. The central access channel 210a may be operable to provide an access port (i.e., passageway or channel) that allows insertion (or removal) of one or more instruments, such as one or more instrument arm assemblies 230 or 240, one or more image capture assemblies 220, one or more accessory arm assemblies 250 or 250, etc.
In an example embodiment, the first end section 212, the second end section 214, and/or the intermediate section 213 may be generally cylindrical in shape. The first end segment 212, the second end segment 214, and/or the intermediate segment 213 may also be formed in any of a variety of other shapes, sizes, and/or dimensions without departing from the teachings of the present disclosure.
In example embodiments, the outer diameter of first end segment 212, second end 214, and/or intermediate segment 213 may be between about 28 to 35mm, and the inner diameter (unobstructed) of first end segment 212, second end 214, and/or intermediate segment 213 may be between about 16 to 21 mm. In an example embodiment, the outer diameter of first end section 212, second end 214, and/or intermediate section 213 may be about 33mm, and the inner diameter (unobstructed) of first end section 212, second end 214, and/or intermediate section 213 may be about 19mm. First end segment 212 may be between about 80 and 100mm in length, second end segment 214 may be between about 80 and 200mm in length, and intermediate segment 213 may be between about 60 and 80mm in length. The total length of the port assembly 210 may be between about 320 to 380 mm. It is understood in this disclosure that the above dimensions are merely illustrative of example embodiments and, as such, these dimensions may be less than or greater than those noted above without departing from the teachings of this disclosure.
Port assembly 210 (including first end section 212, second end section 214, intermediate section 213, and/or anchor port 216) may be formed using any one or more of a variety of materials, such as surgical grade metals, high strength aluminum alloys, stainless steels (such as 304/304L, 316/316L, and 420), pure titanium, titanium alloys (such as Ti6a14V, niTi), and cobalt chrome alloys. The first and second gate assemblies 212b, 214b may be formed using any one or more of a variety of materials, such as biocompatible materials (such as silicone rubber and polyurethane). It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. It is to be understood in this disclosure that the above materials are merely illustrative of example embodiments, and that these and other materials and compositions may be used without departing from the teachings of this disclosure.
Image capturing component (e.g., image capturing component 220)
In an example embodiment, the surgical device 200 may include one or more image capture components (e.g., image capture component 220) that may be configured to be inserted into the port component 210 and attached to the port component 210. One or more of the image capture components 220 may include an image capture body 224, a multi-bendable body 222, and an anchor portion 220a.
As shown in fig. 6A, the image capture body 224 may include one or more cameras 227. Each camera 227 may include a standard and/or high definition 2-dimensional (2D) and/or 3-dimensional (3D) camera operable to capture imaging, such as 2D and/or stereoscopic and/or autostereoscopic 3D imaging (including images, video, and/or audio), and provide the captured imaging (including images, video, and/or audio) to one or more computing devices (or controllers or systems) of a proximally located and/or remote surgical team 904 via wired and/or wireless communication in real-time, as described above and in this disclosure. A computing device (or controller or system) may include one or more processors, one or more human-machine interfaces, one or more graphical displays (such as computer screens, television screens, portable devices, wearable devices (such as glasses, etc.), and/or other devices and/or systems, examples of which are illustrated in fig. 9A and 9B. The one or more proximally located and/or remotely located surgical teams 904 may be operable to view, listen to, feel, analyze, and/or control (such as pan, zoom, process, alter, mark, change resolution, etc.) imaging displayed or represented on one or more standard and/or high definition 2D and/or 3D graphical displays 902 (such as shown in the illustrations of fig. 9A and 9B) and/or portable and/or wearable devices (not shown) adapted to receive 2D and/or 3D imaging. The image capture body 224 may also include one or more illumination sources 229, such as LEDs, etc., which illumination sources 229 are operable to illuminate or sense at least one or more portions, segments, and/or quadrants of the patient's cavity, including instruments provided in the patient's cavity. The image capture body 224 may further include one or more internal temperature control components operable to control (such as reduce) the temperature of one or more components of the image capture body 224.
As shown in the example embodiment of fig. 6A, one or more of the image capture components 220 may include a multi-bendable body 222 attached to an image capture body 224. The multi-bendable body 222 may be any elongated multi-bendable, multi-bowable, multi-connectable, and/or snake-like (hereinafter "multi-bendable") body that may be controlled/configured by a surgical team (such as via a computing device/controller) to straighten and/or bend (and maintain such straightening and/or bending) at one or more of a plurality of locations along the multi-bendable body 222, bend (and maintain such bending) in one or more of a plurality of curved portions, and/or straighten and/or bend (and maintain such straightening and/or bending) in one or more of a plurality of directions, among other aspects. For example, as shown in fig. 8H, the multi-bendable body 222 may be controllable/configurable by a surgical team (such as via a computing device/controller) to bend at two different locations 222a and 222b along the multi-bendable body 222, and each of these curves may include any curved portion in any direction. It is understood that the multi-bendable body 222 may be configurable to bend at more or less than two locations along the multi-bendable body 222 without departing from the teachings of the present disclosure. It is also to be understood that when the multi-bendable body 222 is configured to bend at any location along the multi-bendable body 222, the curve may be held and/or let go (or configured to not bend, less bend, or straighten) by a surgical team (such as via a computing device/controller).
The multi-bendable body 222 may be formed in any one or more ways known in the art. For example, the multi-bendable body 222 may include a plurality of segments, each segment being linked to an adjacent segment in such a way that the segment may be controlled/configured to be pivotally positioned at a plurality of locations relative to the adjacent segment. As another example, the multi-bendable body 222 may include a plurality of wires, cables, etc. distributed throughout the multi-bendable body 222 in such a way that pulling/releasing, shortening/lengthening, tightening/loosening, etc. of one or a combination of the cables enables the above-mentioned bending of one or more locations of the multi-bendable body 222 in one or more bending portions and in one or more directions. As another example, the multi-bendable body 222 may include a plurality of springs, gears, motors, etc. for achieving the above-mentioned bending. It is understood in this disclosure that the multi-bendable body 222 may also include a combination of one or more of the above-mentioned methods.
One or more internal temperature control components (not shown) may be provided for each image capture component 220. Each internal temperature control assembly may be operable to control (such as reduce) the temperature and/or heat generation of the aforementioned camera(s) 227, illumination source(s) 229, and/or multi-curved body 222. In example embodiments, the one or more internal temperature control components may be operable to perform such temperature control using one or more gases, liquids, and/or solids. For example, gas and/or liquid may be fed, maintained and/or regulated using an external source via one or more pipes or the like. In an example embodiment, the one or more tubes for providing, conditioning and/or discharging gas and/or liquid may have a diameter of between about 0.5mm and 3mm, but the size of such tubes may also be larger or smaller. It is understood in this disclosure that the one or more tubes (if used) and any solid (if used) may be provided through the interior of the image capture assembly 220 without increasing the size (such as diameter) of the image capture assembly 220 and/or affecting the controllability/configurability of the multi-bendable body 222.
When the internal temperature control assembly utilizes a gas or the like, the example embodiments may also be operable to provide such gas to the body cavity via one or more tubes or the like and/or to vent or recycle such gas outside of the body cavity. In example embodiments, the gas may include carbon dioxide, oxygen, and/or other gases. Such gas may further be operable to help provide and/or maintain insufflation of the cavity of the patient during surgery. When the internal temperature control assembly utilizes a liquid or the like, the exemplary embodiments may be operable to drain or recycle such liquid outside of the body cavity. When the internal temperature control assembly utilizes a solid body or the like, such a solid body may possess properties that enable a surgical team to change the temperature of the solid body, such as by applying power or other forms of energy, in order to control (such as reduce) the temperature and/or heat generation of one or more components of the image capture assembly 220. In example embodiments, the internal temperature control assembly may utilize a combination of gases, liquids, solids, etc., without departing from the teachings of the present disclosure.
The image capture assembly 220 may be secured to the port assembly 210 in one or more of a variety of ways, including those described above and in the present disclosure with respect to the instrument arm assembly 230 or 240 and/or the assistive arm assembly 250 or 260. For example, the image capture assembly 220 may also include an anchor portion 220a (e.g., similar to the fixed portion 231a of the instrument arm assembly 220) operable to attach (or secure) the image capture assembly 220 to one or more anchor ports 216 of the port assembly 210.
In an example embodiment, both the image capture body 224 and the multi-bendable body 222 may be generally cylindrical in shape. The image capture body 224 and the multi-bendable body 222 may also be formed in any of a variety of other shapes, sizes, and/or dimensions without departing from the teachings of the present disclosure.
In an example embodiment, the length of the multi-bendable body 222 may be between about 50 to 150 mm. In an example embodiment, the length of the multi-bendable body 222 may also be adjusted by the surgical team 904 before, during, and/or after inserting the camera arm assembly into the patient's cavity. The outer diameter of the multi-bendable body 222 may be between about 5 to 7 mm. It is understood in this disclosure that the above dimensions are merely illustrative of example embodiments and, as such, these dimensions may be less than or greater than those noted above without departing from the teachings of this disclosure.
The multi-bendable body 222 may be formed using any one or more of a variety of materials, such as stainless steel, and the like. It is understood in this disclosure that other materials may also be used without departing from the teachings of this disclosure. It is to be understood in this disclosure that the above materials are merely illustrative of example embodiments, and that these and other materials and compositions may be used without departing from the teachings of this disclosure.
As shown in fig. 6B and 6C, the image capture assembly 220 may further include an air shield 228 positioned adjacent to one or more lenses of the camera 227. The image capture assembly 220 may further include an air shield 228 positioned proximate to one or more of an illumination source 229 and/or any other sensor (such as a temperature sensor, a pressure sensor, a humidity sensor, etc.) provided by the image capture assembly 220. The gas shield 228 may include one or more openings or the like, one or more external gas sources 228, and one or more tubes, passages, or the like between the one or more external gas sources and the one or more openings of the gas shield 228. In operation, the gas shield 228 may be operable to provide pressurized gas (and/or liquid), such as carbon dioxide, oxygen, other gases or liquids, or combinations thereof, to the area in front of the camera 227 (and in front of the illumination source 229 and/or other sensors) via the one or more openings of the gas shield 228.
The overall system may also include one or more separate image capture components, such as the separate image capture component 320 shown in fig. 6D. The separate image capture assembly 320 may be magnetically anchored to the inner wall of the patient's cavity by a magnetic anchor 310, such as via permanent magnets, electromagnets, or the like. In some example embodiments, magnetic anchor 310 may also be secured/held in place via an external anchor (not shown). The individual image capture assemblies 320 may include one or more cameras 327 and may also include one or more illumination sources 329.
The individual image capture components 320 may be operable to provide one or more of a variety of views, including but not limited to a normal view, a zoomed view, a wide-angle view, and/or a panoramic view of the patient's cavity. The individual image capture components 320 may be positioned in a manner that provides the surgical team 904 with an unobstructed view of the region of interest within the cavity of the patient. With respect to positioning and securing the individual image capture assemblies 320 in place, as shown in fig. 6D, the individual image capture assemblies 320 may be inserted through the central access channel 210a of the port assembly 210 into a desired location of the inner wall of the patient's cavity in one or more of a variety of ways, including using a surgical tool (not shown), attaching the individual image capture assemblies 320 to a multi-bendable body (not shown) similar to the multi-bendable body of the image capture assembly 220 (as shown in fig. 2A, 2B, 3A, 3B, and 6D), and so forth.
Instrument arm assembly (e.g., instrument arm assembly 230, 240)
In an example embodiment, the surgical device 200 may include one or more instrument arm assemblies (e.g., a first instrument arm assembly 230, a second instrument arm assembly 240, a third instrument arm assembly (not shown), a fourth instrument arm assembly (not shown), etc.), each of which may be configured to be attached to the port assembly 210.
One or more of the instrument arm assemblies (such as 230, 240) can include a configurable series (or linear) arrangement of a plurality of instrument arm segments (or arm assemblies, such as at least the first arm assembly 330, the second arm assembly 360, and the shoulder assembly 231 shown in fig. 5C) and a plurality of linkage portions (such as at least the first arm assembly linkage portion 350, the first shoulder linkage portion 370, and the second shoulder linkage portion 380 shown in fig. 5L and 5M), and at least one end instrument (or end effector) 239, 342, 344 integrated into and/or connected to one or more of the instrument arm segments and/or linkage portions. End effectors 239, 342, 344 may be any instrument suitable for use in a surgical procedure, such as a cutting and/or grasping instrument. One or more of the instrument arm assemblies (such as 230, 240) may also include one or more illumination sources (not shown), such as LEDs or the like, operable to illuminate the end effector 239, 342, 344, one or more portions of the instrument arm assembly, and/or portions, sections, and/or quadrants of the abdominal cavity of the patient.
One or more of the instrument arm assemblies (such as 230, 240) may also include one or more integrated motors (e.g., at least the integrated motors 332, 334, 336, 339 shown in fig. 5E, 5G, 5J, and 5K and at least the integrated motors 362, 364, and 366 shown in fig. 5M, 5N, and 5O), each operable to provide at least one degree of freedom for the instrument arm assembly. Each integrated motor (e.g., at least the integrated motors 332, 334, 336, 339 shown in fig. 5E, 5G, 5J, and 5K, and at least the integrated motors 362, 364, and 366 shown in fig. 5M-5O) may be a fully and independently operating motor housed entirely (in addition to, for example, power and/or control cables that may be fed via a port assembly) in the instrument arm assembly (or arm assemblies, such as the first arm assembly 330, the second arm assembly 360, and the shoulder assembly 231), such as housed in the housings 330 'and 360'. One or more of the instrument arm assemblies may also include an integrated haptic and/or force feedback subsystem (not shown) in communication with one or more of the integrated motors and/or other sensors and/or instruments operable to provide one or more of a plurality of feedback responses and/or measurements to a surgical team (such as via a computing device/controller) including those related to the position (including orientation), applied force, proximity, temperature, pressure, humidity, etc. of, near and/or adjacent to the instrument arm assembly. For example, the surgical team 904 may be provided with master input devices having manipulators or the like with tactile and/or force feedback and designed to map and feel small finger twists, wrist bends, and/or other arm/shoulder motions of the surgical team 904 to motions of the robotic arms (such as 230, 240) with high precision, dexterity, and minimal burden, while also providing feedback of contact resistance (such as tissue resistance).
When the instrument arm assembly (such as 230, 240) includes one or more illumination sources, cameras, tactile and/or force feedback instruments, and/or other sensors and or instruments, as described above and in the present disclosure, the instrument arm assembly may also include an air cap, such as the air cap described above with respect to the image capture assembly 220. One or more of the instrument arm assemblies (such as 230, 240) may further include one or more internal temperature control assemblies operable to control (such as reduce or increase) the temperature of one or more components of the instrument arm assembly.
As shown in the example embodiments of fig. 2A, 2B, 3A, 3B, 5A, and 5B, each of the instrument arm assemblies including the first instrument arm assembly 230 may include a first instrument arm segment (or shoulder segment) 231, a second instrument arm segment (or first arm segment) 233 (as shown in at least fig. 5A-5B), 360 (as shown in at least fig. 5C), a third instrument arm segment (or second arm segment) 235 (as shown in at least fig. 5A-5B), 330 (as shown in at least fig. 5C), and a fourth instrument arm segment (or hand segment) 237. The instrument arm assembly 230 may further include: a first coupling portion (or shoulder coupling segment) 232 having a shoulder yaw (sway) coupling segment 380 and a shoulder pitch (pitch) coupling segment 370; a second linkage portion (or toggle segment) 234 (as shown in at least fig. 5A-5B), 350 (as shown in at least fig. 5C); a third coupling portion (or wrist segment) 236 (as shown in at least fig. 5A-5B), axis B (as shown in at least fig. 5D-H); and an end effector coupling portion 238 (as shown in at least fig. 5A-5B), an axis a (as shown in at least fig. 5D-H). Each of the aforementioned coupling portions may be configured, manually and/or via a computing device (or system), to provide one or more intra-individual degrees of freedom for the attached instrument arm segment (and end effector 239, 342, 344) when the instrument arm assembly is provided in the abdominal cavity of the patient. For example, the first coupling portion (or shoulder coupling segment) 232 may be operable to provide the second instrument arm segment (or first arm segment) 233 (as shown in at least fig. 5A-5B), 360 (as shown in at least fig. 5C) with one or two degrees of freedom similar to one or two degrees of freedom of a human shoulder. Specifically, the shoulder yaw coupling segment 380 (as shown in at least fig. 5M) may be operable to provide movement (e.g., rotation) of the second instrument arm segment (or first arm segment) 233 (as shown in at least fig. 5A-5B), 360 (as shown in at least fig. 5C) relative to the axis E (as shown in at least fig. 5M). Additionally, the shoulder pitch link segment 370 (as shown in at least fig. 5M) may be operable to provide motion (e.g., rotation) relative to axis D (as shown in at least fig. 5M) for the second instrument arm segment (or first arm segment) 233 (as shown in at least fig. 5A-5B), 360 (as shown in at least fig. 5C). As another example, the second coupling portion (or wrist segment) 234 (as shown in at least fig. 5A-5B), 350 (as shown in at least fig. 5C) may be operable to provide the third instrument arm segment (or second arm segment) 235 (as shown in at least fig. 5A-5B), 330 (as shown in at least fig. 5C) with one or two degrees of freedom similar to one or two degrees of freedom of a human shoulder. Specifically, the second coupling portion (or wrist segment) 234 (as shown in at least fig. 5A-5B), 350 (as shown in at least fig. 5C) may be operable to provide movement (e.g., rotation) relative to the axis C (as shown in at least fig. 5M) for the third instrument arm segment (or second arm segment) 235 (as shown in at least fig. 5A-5B), 330 (as shown in at least fig. 5C). As another example, the third coupling portion (or wrist segment) 236 (as shown in at least fig. 5A-5B), axis B (as shown in at least fig. 5D-H) may be operable to provide the fourth instrument arm segment (or hand segment) 237 with one or two degrees of freedom similar to one or two degrees of freedom of a human wrist. Specifically, a third coupling portion (or wrist segment) 236 (as shown in at least fig. 5A-5B), an axis B (as shown in at least fig. 5D-H), may be operable to provide movement (e.g., rotation) of a fourth instrument arm segment (or hand segment) 237 relative to the axis B (as shown in at least fig. 5M). As another example, the end effector coupling portion 238 (shown in at least fig. 5A-5B), the axis a (shown in at least fig. 5D-H) may be operable to provide one or more degrees of freedom to the end effector 239, 342, 344. Specifically, the end effector coupling portion 238 (as shown in at least fig. 5A-5B), the axis a (as shown in at least fig. 5D-H), can be operable to provide movement (e.g., rotation) of the end effector 239, 342, 344 relative to the axis a (as shown in at least fig. 5M). Thus, one or more of the instrument arm assemblies may be configured manually and/or via a computing device/controller to provide seven or more degrees of freedom in individuals, and together with at least one to three or more degrees of freedom in vitro provided by the port assembly 210 and the controllable swing assembly 1000 (see fig. 10A and 10B)), one or more of the instrument arm assemblies may be configured manually and/or via a computing device/controller to provide a total of eight to ten or more degrees of freedom. It is recognized herein that the aforementioned at least seven in-vivo degrees of freedom for the instrument arm assembly enable at least the entire range of natural motion of the surgeon's arm to be mapped and/or translated substantially directly to the instrument arm assembly (via a controller/computer-human interface/manipulator/master input device, such as the examples shown in fig. 9A and 9B).
Each coupling portion, including coupling portions 232, 370, 380, 234, 350, and 236 (and coupling portions along axis B) and instrument coupling portion 238 (and coupling portions along axis a), may include any one or more configurations of gears and/or gear assemblies, including spur gear configurations, planetary gear configurations, bevel gear configurations, spiral bevel gear configurations, hypoid gear configurations, helical gear configurations, worm gear configurations, and/or any other gear configurations, without departing from the teachings of the present disclosure. In an example embodiment, each instrument arm assembly may further include one or more internal integrated motors 332, 334, 336, 339, 362, 364, 366, etc. operable to actuate (e.g., via first instrument drive portion 332a, second instrument drive portion 334a, wrist drive portion 336a, elbow drive portion 362a, shoulder pitch drive portion 364a, shoulder yaw drive portion 366 a) each coupling portion (e.g., first instrument driven portion 342a, second instrument driven portion 344a, wrist driven portion 346a, elbow driven portion 352, shoulder pitch driven portion 364B, first shoulder yaw driven portion 366B, second shoulder yaw driven portion 366c (if desired), third shoulder yaw driven portion 366 d) (including coupling portions 232, 370, 380, 234, 350, and 236 (and coupling portions along axis B and axis a)) and/or gears of instrument arm segments 231, 233, 360, 235, 330, and 237. In this regard, in example embodiments, each of the integrated motors, coupling portions, and/or instrument arm segments described above and in the present disclosure may be operable to communicate to and/or from one or more computing devices/controllers of a proximally and/or remotely located surgical team 904 via wired and/or wireless communication, such as receiving control commands and/or sending information. Further, in example embodiments, each of the integrated motors, coupling portions, and/or instrument arm segments described above and in the present disclosure may be operable to receive power and/or control signals from an external power source and/or computing device/controller via wired and/or wireless transmission.
In an example embodiment, as shown in fig. 5C-5M, an instrument arm segment assembly (e.g., instrument arm segment assemblies 230, 240) may include an end effector assembly (e.g., end effector assembly 340). The instrument arm segment assembly (e.g., instrument arm segment assemblies 230, 240) may also include a first arm assembly (e.g., first arm assembly 235, 330). The instrument arm segment assembly (e.g., instrument arm segment assembly 230, 240) may also include a second arm assembly (e.g., second arm assembly 233, 360).
End effector assembly (e.g., end effector assembly 340)
Example embodiments of an end effector assembly (e.g., end effector assembly 340) may include a first instrument assembly. The end effector assembly 340 may also include a second instrument assembly. While the figures illustrate an end effector assembly having a first instrument and a second instrument, it is understood in this disclosure that the end effector assembly may have more other instruments or may have only a first or second instrument without departing from the teachings of this disclosure. The end effector assembly 340 may also include a wrist assembly.
(i) First instrument assembly
Example embodiments of the first instrument assembly may include a first instrument (e.g., first instrument 342) for performing a surgical action. First instrument 342 may be any surgical instrument without departing from the teachings of the present disclosure.
In an example embodiment, the first instrument 342 may be configurable to receive an electrical current (e.g., a first electrical current) applied from a first energy source (not shown) in order to perform an action of the electrosurgical instrument. While the first instrument may be described above and in this disclosure as receiving current, it is understood that the first instrument may also be configured to receive voltage potentials, thermal energy, heat, cold temperature application, radiation, etc. to perform the surgical action without departing from the teachings of this disclosure.
The first instrument assembly may also include a first instrument driven portion (e.g., first instrument driven portion 342 a). The first instrument driven portion 342a may be configured to be driven by the first instrument drive portion 332a of the integrated motor 332. First instrument driven portion 342a may be driven by first instrument drive portion 332a in such a manner as to move first instrument 342. For example, first instrument driven portion 342a can be driven to move first instrument 342 relative to a first axis (e.g., axis a). In this regard, such movement of first instrument 342 may be rotation of the distal end of first instrument 342 relative to the proximal end of first instrument 342, and such proximal end may serve as a pivot for such movement.
First instrument driven portion 342a can be any mechanism, device, etc. that is configurable to be driven by first instrument driving portion 332a. For example, the first instrument driven portion 342a may include any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, a spiral bevel gear configuration, a hypoid gear configuration, a helical gear configuration, a worm gear configuration, and/or any other gear and/or mechanical configuration (such as a pull wire and a pulley) without departing from the teachings of the present disclosure. While the figures illustrate an end effector assembly having one first instrument driven portion, it is understood in this disclosure that an end effector assembly may have more than one first instrument driven portion without departing from the teachings of this disclosure.
In example embodiments in which the end effector assembly 340 may be detached from (i.e., released from) the arm assembly 331, it will be appreciated that the first instrument driving portion 332a of the integrated motor 332 may be operable to drive the first instrument driven portion 342a when the end effector assembly 340 is secured to (i.e., attached to) the arm assembly 331. In particular, the first instrument driving portion 332a of integrated motor 332 may be operable to drive the first instrument driven portion 342a when the wrist connector portion 338 is secured (i.e., attached) to a wrist assembly (described below and further in this disclosure) of the end effector assembly (and more particularly, the connector 348 of the end effector assembly 340).
In example embodiments in which the end effector assembly 340 may be detached (i.e., loosened) from the arm assembly 331, it is to be understood that one or more connectable and disconnectable wires, cables, etc. may be provided to enable the first instrument 342 to receive electrical current from the energy source to perform the action of the electrosurgical instrument.
The first instrument assembly may also include a first instrument insulating portion (e.g., first instrument insulating portion 342 b). A first instrument insulating portion 342b may be provided between the first instrument 342 and one or more portions of the end effector assembly 340 in order to electrically isolate (or electrically insulate, thermally insulate, etc.) the first instrument 342 from the one or more portions of the end effector assembly 340. In an example embodiment, a first instrument insulating portion 342b may be provided between first instrument 342 and first instrument driven portion 342a in order to electrically isolate (or electrically insulate, thermally insulate, etc.) first instrument 342 from first instrument driven portion 342a. Such electrical isolation (or electrical insulation, thermal isolation, thermal insulation, etc.) may be desirable to protect electrically (or thermally) sensitive components/portions of the surgical arm assembly and/or also to prevent such electrical current (or voltage potential, thermal energy, heat, cold temperature application, radiation, etc.) from undesirably passing through to the second instrument 344 via the first instrument driven portion 342a and/or other components/portions of the surgical arm assembly.
First instrument insulating portion 342b may be formed using any one or more of a variety of materials, such as electrically insulating materials, thermally insulating materials, plastics, elastomers, ceramics, glass, and minerals. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure.
First instrument 342 may be formed using any one or more of a variety of materials, such as surgical grade metals, high strength aluminum alloys, stainless steels (such as 304/304L, 316/316L, and 420), pure titanium, titanium alloys (such as Ti6a14V, niTi), cobalt chrome alloys, and magnesium alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. Further, first instrument 342 may include an opening or the like for receiving and housing at least a portion of first instrument insulating portion 342 b. In an example embodiment, a first axis (e.g., axis a) may be formed through the center of the opening of first instrument 342. Although the opening may be depicted in the figures as being circular in shape and the corresponding outer portion of the first instrument insulating portion 342b received in the opening may be depicted in the figures as being circular in shape, it is understood in this disclosure that the opening and such corresponding outer portion may be formed into one or more other shapes, including but not limited to square, rectangular, oval, pentagonal, hexagonal, etc., without departing from the teachings of this disclosure.
(ii) Second instrument assembly
Example embodiments of the second instrument assembly may include a second instrument (e.g., second instrument 344) for performing a surgical action. The second instrument 344 may be any surgical instrument without departing from the teachings of the present disclosure.
In an example embodiment, the second instrument 344 may be configurable to receive an electrical current (e.g., a second electrical current) applied from a second energy source (not shown) in order to perform the actions of the electrosurgical instrument. While the second instrument may be described above and in this disclosure as receiving current, it is understood that the second instrument may also be configured to receive voltage potentials, thermal energy, heat, cold temperature application, radiation, etc. to perform the surgical action without departing from the teachings of this disclosure.
The second instrument assembly may also include a second instrument driven portion (e.g., second instrument driven portion 344 a). The second instrument driven portion 344a may be configurable to be driven by a second instrument drive portion 334a of the integrated motor 334. The second instrument driven portion 344a may be driven by the second instrument driving portion 334a in such a manner as to move the second instrument 344. For example, the second instrument driven portion 344a can be driven to move the second instrument 344 relative to the first axis (e.g., axis a). In this regard, such movement of the second instrument 344 may be rotation of the distal end of the second instrument 344 relative to the proximal end of the second instrument 344, and such proximal end may serve as a pivot for such movement.
The second instrument driven portion 344a may be any mechanism, device, etc. that is configurable to be driven by the second instrument driving portion 334a. For example, the second instrument driven portion 344a can include any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, a helical bevel gear configuration, a hypoid gear configuration, a helical gear configuration, a worm gear configuration, and/or any other gear and/or mechanical configuration (such as a pull wire and a pulley) without departing from the teachings of the present disclosure. While the figures illustrate an end effector assembly having one second instrument driven portion, it is understood in this disclosure that an end effector assembly may have more than one second instrument driven portion without departing from the teachings of this disclosure.
In example embodiments in which the end effector assembly 340 may be detached (i.e., released) from the arm assembly 331, it is to be understood that the second instrument drive portion 334a of the integrated motor 334 may be operable to drive the second instrument driven portion 344a when the end effector assembly 340 is secured (i.e., attached) to the arm assembly 331. In particular, the second instrument drive portion 334a of the integrated motor 334 can be operable to drive the second instrument driven portion 344a when the wrist connector portion 338 is secured (i.e., attached) to a wrist assembly (described below and further in this disclosure) of the end effector assembly (and more particularly, the connector 348 of the end effector assembly 340).
In example embodiments in which the end effector assembly 340 may be detached (i.e., loosened) from the arm assembly 331, it is to be understood that one or more connectable and disconnectable wires, cables, etc. may be provided to enable the second instrument 344 to receive electrical current from the energy source to perform the actions of the electrosurgical instrument.
The second instrument assembly may also include a second instrument insulating portion (e.g., second instrument insulating portion 344 b). A second instrument insulating portion 344b may be provided between the second instrument 344 and one or more portions of the end effector assembly 340 to electrically isolate (or electrically insulate, thermally insulate, etc.) the second instrument 344 from the one or more portions of the end effector assembly 340. In an example embodiment, a second instrument insulating portion 344b may be provided between the second instrument 344 and the second instrument driven portion 344a in order to electrically isolate (or electrically insulate, thermally insulate, etc.) the second instrument 344 from the second instrument driven portion 344a. Such electrical isolation (or electrical insulation, thermal isolation, thermal insulation, etc.) may be desirable to protect electrically (or thermally) sensitive components/portions of the surgical arm assembly and/or also to prevent such electrical current (or voltage potential, thermal energy, heat, cold temperature application, radiation, etc.) from undesirably passing through to the first instrument 342 via the second instrument driven portion 344a and/or other components/portions of the surgical arm assembly.
The second instrument insulating portion 344b can be formed using any one or more of a variety of materials, such as electrically insulating materials, thermally insulating materials, plastics, elastomers, ceramics, glass, and minerals. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure.
The second instrument 344 may be formed using any one or more of a variety of materials, such as surgical grade metals, high strength aluminum alloys, stainless steels (such as 304/304L, 316/316L, and 420), pure titanium, titanium alloys (such as Ti6A14V, niTi), cobalt chrome alloys, and magnesium alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. Further, the second instrument 344 may include an opening or the like for receiving and accommodating at least a portion of the second instrument insulating portion 344 b. In an example embodiment, the first axis (e.g., axis a) may be formed through the center of the opening of the second instrument 344. Although the opening may be depicted in the figures as being circular in shape and the corresponding outer portion of the second instrument insulating portion 344b received in the opening may be depicted in the figures as being circular in shape, it is understood in this disclosure that the opening and such corresponding outer portion may be formed into one or more other shapes, including but not limited to square, rectangular, oval, pentagonal, hexagonal, etc., without departing from the teachings of this disclosure.
(iii) Cooperation of first and second instrument assemblies
In an example embodiment, a first instrument (e.g., first instrument 342) and a second instrument (e.g., second instrument 344) may be selectively movable/drivable independently of each other. In an example embodiment, the first and second instruments 342, 344 may be selectively moved/driven in a similar or identical manner, such as may be moved/driven simultaneously, for the same duration, for the same distance, and/or with the same output energy. While the figures illustrate an end effector assembly having a first instrument and a second instrument, it is understood in this disclosure that the end effector assembly may have more other instruments or may have only a first or second instrument without departing from the teachings of this disclosure. For example, first instrument 342 and second instrument 344 may cooperate to form a grasper. As another example, the first and second instruments 342, 344 may cooperate to form scissors. As another example, the first instrument 342 and the second instrument 344 may cooperate to form a Maryland grasper. Other forms and types of first and/or second instruments are contemplated in the present disclosure in addition to or instead of the first and/or second instruments described above and herein without departing from the teachings of the present disclosure.
For example, as described above, the first instrument 342 may be configurable to receive an electrical current (e.g., a first electrical current) applied from a first energy source (not shown) in order to perform the actions of the electrosurgical instrument. Additionally or alternatively, the second instrument 344 may be configurable to receive an electrical current (e.g., a second electrical current) applied from a second energy source (not shown). In example embodiments, the first current may be the same as the second current in magnitude, but opposite in direction, and in example embodiments, the first energy source may be the same as or different from the second energy source. In such embodiments where the first and second instruments cooperate to form a monopolar electrosurgical instrument or the like, when a mass (e.g., a tissue mass) is provided between the first and second instruments 342, 344 and an electrical current is applied to either the first or second instrument 342, 344, the mass will serve to enable the applied electrical current to pass through and assist in cutting, coagulating, drying and/or electrocautery the mass. Similarly, in embodiments where the first and second instruments cooperate to form a bipolar electrosurgical instrument or the like, when a mass (e.g., a tissue mass) is provided between the first and second instruments 342, 344 and an electrical current is applied to the first and second instruments 342, 344, the mass will serve to enable the applied electrical current to pass through and assist in performing surgical actions, including cutting, coagulating, drying, cauterizing, and/or fulgurating the mass. Although the first and/or second instruments may be described above and in this disclosure as receiving electrical current, it is understood that the first and/or second instruments may also be configured to receive voltage potentials, thermal energy, heat, cold temperature application, radiation, etc. to perform the surgical action without departing from the teachings of this disclosure.
(iv) Wrist assembly
In an example embodiment, the wrist assembly may be securable or secured to the first instrument assembly. The wrist assembly may include a wrist driven portion (e.g., wrist driven portion 346 a). The wrist assembly may further include a connector (e.g., connector 348).
Wrist driven portion 346a may be configured to be driven by wrist driving portion 336a of integrated motor 336. Wrist driven portion 346a may be driven by wrist driving portion 336a in such a manner as to move first instrument 342. For example, wrist driven portion 346a may be driven to move first instrument 342 relative to a second axis (e.g., axis B). In this regard, such movement of first instrument 342 may be a rotation of the distal end of first instrument 342 relative to a point on a second axis (e.g., axis B), and such point may serve as a pivot for such movement. Additionally or alternatively, the wrist driven portion 346a may be driven by the wrist driving portion 336a in such a manner as to move the second instrument 344. For example, the wrist driven portion 346a may be driven to move the second instrument 344 relative to a second axis (e.g., axis B). In this regard, such movement of the second instrument 344 may be a rotation of the distal end of the second instrument 344 relative to a point on a second axis (e.g., axis B), and such point may serve as a pivot for such movement. In an exemplary embodiment, wrist driven portion 346a may be driven by wrist driving portion 336a in such a manner as to move first and second instruments 342 and 344 together. For example, wrist driven portion 346a may be driven to jointly move first instrument 342 and second instrument 344 relative to a second axis (e.g., axis B). In this regard, such movement of first and second instruments 342, 344 may be a rotation of the distal ends of first and second instruments 342, 344 relative to a point on a second axis (e.g., axis B), and such point may serve as a pivot for such movement.
Wrist driven portion 346a may be any mechanism, device, etc. that may be configured to be driven by wrist driving portion 336a. For example, wrist driven portion 346a may include any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, a spiral bevel gear configuration, a hypoid gear configuration, a helical gear configuration, a worm gear configuration, and/or any other gear and/or mechanical configuration (such as a pull wire and a pulley) without departing from the teachings of the present disclosure. While the figures illustrate an end effector assembly having one wrist driven portion, it is understood in this disclosure that an end effector assembly may have more than one wrist driven portion without departing from the teachings of this disclosure.
Arm assemblies (e.g., first arm assemblies 235 and 330, second arm assemblies 233 and 360)
(i) First arm assembly (e.g., first arm assembly 235, 330)
An example embodiment of a first arm assembly (e.g., first arm assembly 235, 330) is illustrated in at least fig. 5A-M. The arm assembly 330 may be secured to the end effector assembly 340. In an example embodiment, the arm assembly 330 can be fixed to the end effector assembly 340 and can be released (e.g., detached) from the end effector assembly 340. As shown in fig. 5C and 5J, the arm assembly 330 can include an arm assembly body (e.g., arm assembly body 330') having a first end 330a and a second end 330b opposite the first end 330a. The arm assembly coupling portion 350 (or toggle segment) may be secured to the first end 330a of the arm assembly body 330'. A wrist connector portion 338 may be provided at the second end 330b of the arm assembly body 330'. The arm assembly body 330' may securely house one or more of a plurality of drive assemblies.
In an example embodiment, the arm assembly body 330' may securely house the first instrument drive assembly. The first instrument drive assembly may include a first integrated motor (e.g., first integrated motor 332) and a first instrument drive portion (e.g., first instrument drive portion 332 a). A first instrument drive portion 332a may be provided at the second end 330b of the arm assembly body 330'. The first instrument driving portion 332a may be controllable by a first integrated motor 332 to drive a first instrument driven portion 342a when the wrist connector portion 338 is secured to the wrist assembly 348. The first instrument driving portion 332a may be any mechanism, device, etc. that is configurable to drive the first instrument driven portion 342a. For example, first instrument drive portion 332a may include any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, a helical bevel gear configuration, a hypoid gear configuration, a helical gear configuration, a worm gear configuration, and/or any other gear and/or mechanical configuration (such as a pull wire and a pulley) without departing from the teachings of the present disclosure. Although the figures illustrate an arm assembly having one first instrument drive portion 332a, it is understood in this disclosure that an arm assembly may have more than one first instrument drive portion 332a without departing from the teachings of this disclosure.
In an exemplary embodiment, the arm assembly body 330' may also securely house a second instrument drive assembly. The second instrument drive assembly may include a second integrated motor (e.g., second integrated motor 334) and a second instrument drive portion (e.g., second instrument drive portion 334 a). A second instrument drive portion 334a may be provided at the second end 330b of the arm assembly body 330'. The second instrument driving portion 334a may be controllable by a second integrated motor 334 to drive the second instrument driven portion 344a when the wrist connector portion 338 is secured to the wrist assembly 348. The second instrument driving portion 334a may be any mechanism, device, etc. that is configurable to drive the second instrument driven portion 344a. For example, the second instrument drive portion 334a may include any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, a spiral bevel gear configuration, a hypoid gear configuration, a helical gear configuration, a worm gear configuration, and/or any other gear and/or mechanical configuration (such as a pull wire and a pulley) without departing from the teachings of the present disclosure. While the figures illustrate an arm assembly having one second instrument drive portion 334a, it is understood in this disclosure that an arm assembly may have more than one second instrument drive portion 334a without departing from the teachings of this disclosure.
In an example embodiment, the arm assembly body 330' may also securely house a wrist drive assembly. The wrist drive assembly may include a third integrated motor (e.g., third integrated motor 336) and a wrist drive section (e.g., wrist drive section 336 a). A wrist drive portion 336a may be provided at the second end 330b of the arm assembly body 330'. Wrist driving portion 336a may be controllable by third integrated motor 336 to drive wrist driven portion 346a when wrist connector portion 338 is secured to wrist assembly 348. Wrist driving portion 336a may be any mechanism, device, etc. that may be configured to drive wrist driven portion 346a. For example, wrist drive portion 336a may include any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, a spiral bevel gear configuration, a hypoid gear configuration, a helical gear configuration, a worm gear configuration, and/or any other gear and/or mechanical configuration (such as a pull wire and a pulley) without departing from the teachings of the present disclosure. While the figures illustrate an arm assembly having one wrist drive portion 336a, it is understood in this disclosure that an arm assembly may have more than one wrist drive portion 336a without departing from the teachings of this disclosure.
In an example embodiment, the arm assembly body 330' may also securely house the first arm assembly drive assembly. The first arm assembly drive assembly may include a fourth integrated motor (e.g., fourth integrated motor 339) and a first arm assembly drive portion (e.g., first arm assembly drive portion 339 a). A first arm assembly drive portion 339a may be provided at the first end 330a of the arm assembly body 330'. The first arm assembly drive portion 339a may be controllable by a fourth integrated motor 339 to drive the first arm assembly body 330' for movement relative to the first arm assembly coupling portion 350. The first arm assembly drive portion 339a may be any mechanism, device, etc. that may be configured to drive the movement of the first arm assembly body 330' relative to the first arm assembly coupling portion 350. For example, the first arm assembly drive portion 339a may include any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, a spiral bevel gear configuration, a hypoid gear configuration, a helical gear configuration, a worm gear configuration, and/or any other gear and/or mechanical configuration (such as a pull wire and a pulley) without departing from the teachings of the present disclosure. Although the figures illustrate an arm assembly having one first arm assembly drive portion 339a, it is understood in this disclosure that an arm assembly may have more than one first arm assembly drive portion 339a without departing from the teachings of this disclosure.
Although the figures illustrate the first arm assembly (e.g., the first arm assembly 235, 330) having the first integrated motor 332, the second integrated motor 334, the third integrated motor 336, the fourth integrated motor 339, the first instrument drive portion 332a, the second instrument drive portion 334a, the wrist drive portion 336a, and the first arm assembly drive portion 339a, it is to be understood that the first arm assembly (e.g., the first arm assembly 235, 330) may include the first integrated motor 332, the second integrated motor 334, the third integrated motor 336, the fourth integrated motor 339, the first instrument drive portion 332a, the second instrument drive portion 334a, the wrist drive portion 336a, and/or the first arm assembly drive portion 339a, and/or may also include other integrated motor(s) and/or other drive portions without departing from the teachings of the present disclosure. It is further understood that the first integrated motor 332, the second integrated motor 334, the third integrated motor 336, the fourth integrated motor 339, the first instrument drive portion 332a, the second instrument drive portion 334a, the wrist drive portion 336a, and/or the first arm assembly drive portion 339a may be partially or entirely housed in the first arm assembly (e.g., the first arm assembly 235, 330), the second arm assembly (e.g., the second arm assembly 233, 360), and/or any other location without departing from the teachings of the present disclosure.
(ii) Second arm assembly (e.g., second arm assembly 233, 360)
Example embodiments of second arm assemblies (e.g., second arm assemblies 233, 360) are illustrated in at least fig. 5A-C and 5L-O. The second arm assembly 360 may be secured to the first arm assembly 330 at one end and to the shoulder segment 231 at the other end. When secured to the shoulder segment 231, the second arm assembly 360 may be configurable to move in one or more of a variety of ways relative to the shoulder segment 231, including but not limited to pitch, yaw (yaw), and/or roll (roll) relative to the shoulder segment 231. In an example embodiment, second arm assembly 360 may be fixed to first arm assembly 330 and releasable (e.g., detachable) from first arm assembly 330. As shown in fig. 5L-N, the second arm assembly 360 can include a second arm assembly body or housing (e.g., second arm assembly body 360') having a first end 360a and a second end 360b opposite the first end 360 a. The arm assembly coupling portion 350 (or toggle segment) may be secured to the second end 360b of the second arm assembly body 360'. The shoulder pitch link portion 370 may be provided at the first end 360a of the second arm assembly body 360'. In an example embodiment, the shoulder yaw coupling portion 380 may be provided at the first end 360a of the second arm assembly body 360'. The second arm assembly body 360' may securely house one or more of a plurality of drive assemblies.
In an exemplary embodiment, the second arm assembly body 360' may securely house the elbow drive assembly. The elbow drive assembly may include a fifth integrated motor (e.g., fifth integrated motor 362) and an elbow drive portion (e.g., elbow drive portion 362 a). The elbow drive portion 362a may be provided at the second end 360b of the second arm assembly body 360'. The elbow driving part 362a may be controllable by the fifth integrated motor 362 to drive the elbow driven part 352. The elbow driving portion 362a can be any mechanism, device, etc. that can be configured to drive the elbow driven portion 352. For example, the elbow yaw drive portion 362a can include any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, a spiral bevel gear configuration, a hypoid gear configuration, a helical gear configuration, a worm gear configuration, and/or any other gear and/or mechanical configuration (such as a cable and pulley) without departing from the teachings of the present disclosure. While the figures illustrate a second arm assembly having one elbow drive portion 362a, it is understood in this disclosure that a second arm assembly may have more than one elbow drive portion 362a without departing from the teachings of this disclosure.
In an example embodiment, the second arm assembly body 360' may securely house the shoulder pitch drive assembly. The shoulder pitch drive assembly may include a sixth integrated motor (e.g., sixth integrated motor 364) and a shoulder pitch drive portion (e.g., shoulder pitch drive portion 364 a). The shoulder pitch drive portion 364a may be provided at the first end 360a of the second arm assembly body 360'. The shoulder pitch drive portion 364a may be controllable by the sixth integrated motor 364 to drive the shoulder pitch driven portion 364b. The shoulder pitch drive portion 364a may be any mechanism, device, etc. that may be configured to drive the elbow pitch driven portion 364b. For example, shoulder pitch drive portion 364a may comprise any one or more configurations of gears and/or gear assemblies, including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, a spiral bevel gear configuration, a hypoid gear configuration, a helical gear configuration, a worm gear configuration, and/or any other gear and/or mechanical configuration (such as a cable and pulley) without departing from the teachings of the present disclosure. Although the figures illustrate a second arm assembly having one shoulder pitch drive portion 364a, it is understood in this disclosure that a second arm assembly may have more than one shoulder pitch drive portion 364a without departing from the teachings of this disclosure.
In an example embodiment, the second arm assembly body 360' may securely house the shoulder yaw drive assembly. The shoulder yaw drive assembly may include a seventh integrated motor (e.g., seventh integrated motor 366) and a shoulder yaw drive section (e.g., shoulder yaw drive section 366 a). The shoulder yaw drive portion 366a may be provided at the first end 360a of the second arm assembly body 360'. The shoulder yaw driving portion 366a may be controllable by a seventh integrated motor 366 to drive a first shoulder yaw driven portion 366b (which in turn drives a second shoulder yaw driven portion 366c (if desired) and a third shoulder yaw driven portion 366 d). Shoulder yaw drive section 366a may be any mechanism, device, etc. that may be configured to drive first shoulder yaw driven section 366 b. Additionally, first shoulder yaw driven portion 366b may be any mechanism, device, etc. that is configurable to drive second shoulder yaw driven portion 366 c. Additionally, second shoulder yaw driven portion 366c may be any mechanism, device, etc. that is configurable to drive third shoulder yaw driven portion 366d. For example, one or more of shoulder yaw drive section 366a, first shoulder yaw driven section 366b, second shoulder yaw driven section 366c, and third shoulder yaw driven section 366d may comprise any one or more configurations of gears and/or gear assemblies, including spur gear configurations, planetary gear configurations, bevel gear configurations, spiral bevel gear configurations, hypoid gear configurations, helical gear configurations, worm gear configurations, and/or any other gear and/or mechanical configuration (such as wire and pulley) without departing from the teachings of the present disclosure. Although the figures illustrate a second arm assembly having one shoulder yaw-driving portion 366a, one first shoulder yaw-driven portion 366b, one second shoulder yaw-driven portion 366c, and one third shoulder yaw-driven portion 366d, it is understood in this disclosure that the second arm assembly may have more than one shoulder yaw-driving portion 366a, more than one first shoulder yaw-driven portion 366b, more than one second shoulder yaw-driven portion 366c, and/or more than one third shoulder yaw-driven portion 366d without departing from the teachings of this disclosure. Further, it is understood in this disclosure that the second arm assembly may or may not have the second shoulder yaw driven portion 366c, and/or may not have one or more additional or other intermediate shoulder yaw driven portions between the shoulder yaw driven portion 366a and the third shoulder yaw driven portion 366d without departing from the teachings of this disclosure.
Although the figures illustrate a second arm assembly (e.g., second arm assembly 233, 360) having a fifth integrated motor 362, a sixth integrated motor 364, a seventh integrated motor 366, an elbow drive section 362a, a shoulder pitch drive section 364a, and a shoulder yaw drive section 366a, it is to be understood that the second arm assembly (e.g., second arm assembly 233, 360) may include the fifth integrated motor 362, the sixth integrated motor 364, the seventh integrated motor 366, the elbow drive section 362a, the shoulder pitch drive section 364a, and/or the shoulder yaw drive section 366a, and/or may also include other integrated motor(s) and/or other drive sections without departing from the teachings of the present disclosure. It is also understood that the fifth integrated motor 362, the sixth integrated motor 364, the seventh integrated motor 366, the elbow drive section 362a, the elbow yaw drive section 362a, the shoulder pitch drive section 364a, and the shoulder yaw drive section 366a may be partially or wholly housed in the first arm assembly (e.g., the first arm assembly 235, 330), the second arm assembly (e.g., the second arm assembly 233, 360), and/or any other location without departing from the teachings of the present disclosure.
Each instrument arm assembly may be secured to the anchor port 216 of the port assembly 210 (and released from the anchor port 216 of the port assembly 210) via the securing portion 231a of the shoulder segment 231. It is recognized in the present disclosure that the instrument arm assemblies 230, 240 may be secured to the anchor ports 216 of the port assembly 210 in a forward position (e.g., as shown in fig. 2B and 3B) and/or in a reverse position (e.g., as shown in fig. 2A and 3A). Further, in an example embodiment, the instrument arm assemblies 230, 240 may or may not be transitioned between a forward and reverse orientation. In example embodiments where the instrument arm assembly 230, 240 is transitionable between a forward-facing position and an opposite-facing position, such a transition may be performed before, during, and/or after the shoulder segment 231 is secured to the anchor port 216 of the port assembly 210. For example, in such embodiments, the position of the securing portion 231a relative to the shoulder segment 231 may be adjustably changed, such as from a forward-facing position as shown in fig. 5A to an opposite-facing position as shown in fig. 5B, and vice versa.
One or more internal temperature control assemblies (not shown) may be provided for each of the one or more instrument arm assemblies 230, 240. Each internal temperature control assembly may be operable to control (such as reduce) the temperature and or heat generation of the above-mentioned gears and/or gear assemblies, motors, instrument couplings (such as 232, 370, 380, 234, 236, couplings along axis a, and/or couplings along axis B), and/or instrument arm segments (such as 231, 233, 360, 235, 330, and/or 237). The one or more internal temperature control assemblies may also be operable to control (such as increase or decrease) the temperature of the end effector 239, 342, 344 (which may be desirable when the end effector 239, 342, 344 is a cutting tool or the like). In example embodiments, the one or more internal temperature control components may be operable to perform such temperature control using one or more gases, liquids, and/or solids. For example, the gas and/or liquid may be fed, maintained and/or regulated using an external source via one or more pipes or the like. In an example embodiment, the one or more tubes for providing, conditioning and/or discharging gas and/or liquid may have a diameter of between about 0.5mm and 3mm, but the diameter of such tubes may also be larger or smaller. It is understood in this disclosure that the one or more tubes (if used) and any solids (if used) may be provided through the interior of the instrument arm assembly without increasing the size (such as diameter) of the instrument arm assembly.
When the internal temperature control assembly utilizes a gas or the like, the example embodiments may also be operable to provide such gas into the body cavity via one or more tubes or the like and/or to vent or recycle such gas outside of the body cavity. In example embodiments, the gas may include carbon dioxide, oxygen, and/or other gases. Such gas may be further operable to assist in providing and/or maintaining insufflation of the body cavity, such as via an opening (not shown). When the internal temperature control assembly utilizes a liquid or the like, the example embodiments may be operable to drain or recycle such liquid outside of the body cavity. When the internal temperature control assembly utilizes a solid state or the like, such a solid may possess properties that enable a surgical team to change the temperature of the solid, such as by applying electrical or other forms of energy, in order to control (such as reduce) the temperature and/or heat generation of one or more components of the instrument arm assembly 230, 240.
In example embodiments, the internal temperature control assembly may utilize a combination of gases, liquids, solids, etc., without departing from the teachings of the present disclosure.
After the instrument arm assemblies 230, 240 have been inserted and attached (or secured) to the port assembly 210, the end effectors 239, 342, 344 may be configured, manually and/or via a computing device (or system), to apply between approximately 0 and 20N of force via the integrated motors 332, 334 when performing surgical actions and procedures, such as cutting and/or grasping actions. Further, the end effectors 239, 342, 344 may be configured, manually and/or via a computing device/controller, to apply between approximately 0 and 10N of force via the integrated motors 332, 334, 336, 338 when performing other surgical actions and procedures (such as translation, twisting, pulling, and/or pushing actions). It is understood in this disclosure that the above ranges of applied force are merely illustrative of example embodiments, as such ranges of applied force may be less than or greater than those noted above without departing from the teachings of this disclosure.
In an example embodiment, the instrument arm segments including the first instrument arm segment 231, the second instrument arm segments 233, 360, the third instrument arm segments 235, 330, and/or the fourth instrument arm segment 237 may be generally cylindrical in shape. The instrument arm segments, including the first instrument arm segment 231, the second instrument arm segments 233, 360, the third instrument arm segments 235, 330, and/or the fourth instrument arm segment 237, may also be formed in any of a variety of other shapes, sizes, and/or dimensions without departing from the teachings of the present disclosure.
As noted above, the instrument arm assembly 230, 240 can also include one or more fixed portions 231a. The fixed portion 231a may be attachable or attached to the first instrument arm segment 231, a portion of the first instrument arm segment 231, and/or form a unitary object with the first instrument arm segment 231. Such a securing portion 231a may be used to secure the instrument arm assembly 230, 240 to the anchor port 216. In an example embodiment, such a securing portion 231a may also be used to perform or assist in performing the process of inserting and securing the instrument arm assembly 230, 240 into the port assembly 210.
After the instrument arm assembly 230 is inserted through the port assembly 210 into a cavity of a patient, such as the vagina or rectum, the fixation portion 231a of the first instrument arm segment (or shoulder segment) 231 may be securely received by the anchor port 216 of the port assembly 210.
In an exemplary embodiment, the length of the securing portion 231a may be between about 350 and 450mm, the length of the first instrument arm segment 231 may be between about 15 and 40mm, the length of the second instrument arm segment 233, 360 may be between about 80 and 105mm, the length of the third instrument arm segment 235, 330 may be between about 65 and 90mm, the length of the fourth instrument arm segment 237 may be between about 5 and 30mm, and the overall length of the combined instrument arm may be between about 165 and 265 mm. In an exemplary embodiment, the length of the securing portion 231a may be between about 340 and 400mm, the length of the first instrument arm segment 231 may be between about 15 and 25mm, the length of the second instrument arm segment 233, 360 may be between about 90 and 100mm, the length of the third instrument arm segment 235, 330 may be between about 75 and 85mm, the length of the fourth instrument arm segment 237 may be between about 15 and 25mm, and the overall length of the combined instrument arm may be between about 195 and 235 mm. In an example embodiment, the length of one or more of the instrument arm segments, the fixed portion 231a, and/or the end effectors 239, 342, 344 may also be adjusted by one or more computing devices (or systems) of the proximally and/or remotely located surgical team 904 before, during, and/or after insertion of the instrument arm assembly into the patient's cavity. One or more of the instrument arm segments may have an outer diameter of about 10 to 16mm. In an example embodiment, the outer diameter of one or more of the instrument arm segments may be about 16mm.
Including each of the fixation portion 231a, first instrument arm segment 231, second instrument arm segment 233, 360, third instrument arm segment 235, 330, fourth instrument arm segment 237, end effector 239, 342, 344, first coupling portion 232, shoulder yaw coupling portion 380, shoulder pitch coupling portion 370, second (or elbow) coupling portion 234, 350, third coupling portion 236 (or coupling portions along axis B), and/or instrument coupling portion 238 (or coupling portions along axis a) may be formed using any one or more of a variety of materials, such as surgical grade metals, high strength aluminum alloys, stainless steels (such as 304/304L, 316/316L, and 420), pure titanium, titanium alloys (such as Ti6a14V, niTi), and cobalt chrome alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure.
Sub-arm assembly (e.g., sub-arm assembly 250, 260)
In an example embodiment, surgical device 200 may include one or more accessory arm assemblies (e.g., accessory arm assemblies 250 or 260) that may be configured to be inserted into and attached to port assembly 210. As shown in fig. 2A, 2B, 3A, and 3B, one or more of the assistive arm assemblies may be a suction/irrigation assembly 250, or an assistive instrument arm assembly such as a retractor arm assembly 260, each of which may include a multi-bendable body 252 or 262, respectively, and an anchoring portion (e.g., similar to the multi-bendable body 222 and the anchoring portion 220a of the image capture assembly 220), respectively.
As shown in fig. 2A, 2B, 3A, and 3B, the suction/irrigation assembly 250 may include an end having a suction port 259, the suction port 259 for applying suction or negative pressure that may be used to remove liquid (e.g., blood, etc.) from the patient's cavity. With respect to the assistive instrument arm assembly 260, the assistive instrument arm assembly 260 may include an end having instruments 269 (such as graspers, retractors, cutters, needles, etc.), which instruments 269 may be used to assist the one or more instrument arm assemblies 230 and/or 240 in performing a surgical action.
As shown in the example embodiments of fig. 2A, 2B, 3A, and 3B, the assistive arm assemblies 250 and/or 260 may include multi-bendable bodies 252 and/or 262, respectively, attached to their ends (suction ports or instruments, respectively). The multi-bendable body 252 or 262 may be any elongate multi-bendable body similar to the multi-bendable body of the image capture assembly 220 described above and in the present disclosure that may be controlled/configured by the surgical team 904 (such as via a computing device/controller/manipulator/master input device) to straighten and/or bend (and maintain such straightening and/or bending) at one or more of a plurality of locations along the multi-bendable body 252 or 262, bend in one or more of a plurality of curved portions (and maintain such curved portions), and/or straighten and/or bend in one or more of a plurality of directions (and maintain such straightening and/or bending), among other things. It is to be understood that when the multi-bendable body 252 or 262 is configured to bend at any location along the multi-bendable body 252 or 262, the curve may be held and/or let go (or configured to not bend, bend less, or straighten) by the surgical team 904 (such as via the computing device/controller/manipulator/master input device).
The multi-bendable body 252 or 262 may be formed in any one or more ways known in the art. For example, the multi-bendable body 252 or 262 may be a single or substantially single elongated body having a plurality of wires, cables, etc. distributed/spread throughout the multi-bendable body 252 or 262 in such a way that pulling/releasing, shortening/lengthening, tightening/loosening, etc. of one or a combination of such wires, cables, etc. enables the above-mentioned bending of one or more locations of the multi-bendable body 252 or 262 to be achieved in one or more bending portions and in one or more directions. As another example, the multi-bendable body 252 or 262 may include a plurality of segments, each segment being linked to an adjacent segment in such a way that the segment may be controlled/configured to be pivotally positioned at a plurality of locations relative to the adjacent segment. As another example, the multi-bendable body 252 or 262 may include a plurality of springs, gears, motors, etc. for achieving the above-mentioned bending of one or more positions of the multi-bendable body 252 or 262 in one or more bending portions and in one or more directions. It is understood in this disclosure that the multi-bendable body 252 or 262 may also include a combination of one or more of the above-mentioned methods.
The assistive arm assembly 250 or 260 may be secured to the port assembly 210 in one or more of a variety of ways, including those described above and in the present disclosure with respect to the instrument arm assemblies 230, 240 and/or the image capture assembly 220. For example, the assistive arm assembly 250 or 260 may also include an anchor portion (e.g., similar to the anchor portion 220 of the image capture assembly 220 and/or the fixed portion 231a of the instrument arm assembly 220), respectively, that is operable to attach (or fix) the assistive arm assembly 250 or 260 to one or more anchor ports 216 of the port assembly 210.
In an example embodiment, the multi-bendable body 252 or 262 may each be generally cylindrical in shape. The multi-curved body 252 or 262 may also be formed in any of a variety of other shapes, sizes, and/or dimensions without departing from the teachings of the present disclosure.
In an example embodiment, the length of the multi-bendable body 252 or 262 may be between about 170 to 270 mm. In an example embodiment, the length of the multi-bendable body 252 or 262 may also be adjusted by the surgical team 904 before, during, and/or after inserting the camera arm assembly into the patient's cavity. The outer diameter of the multi-bendable body 252 or 262 may be between about 5 to 7 mm. It is understood in this disclosure that the above dimensions are merely illustrative of example embodiments and, as such, these dimensions may be less than or greater than those noted above without departing from the teachings of this disclosure.
Controller for controlling a motor
In an example embodiment, a surgical system may include a controller (or computing device, manipulator, and/or master input device). The controller may be configurable to perform one or more of a plurality of operations in the surgical system 200 and on the surgical system 200. For example, the controller may be configurable to communicate with and/or control one or more elements of the surgical system 200, such as the external anchor 1 or 1000, the port assembly 210, the instrument arm assembly 230 or 240, the image capture assembly 220, and/or the assistive arm assembly 250 or 260. The controllers may be accessed and/or controlled by a surgical team 904, which may be capable of communicating with and/or controlling the configuration and/or operation of one or more elements of the surgical system 200. For example, the controller may be configured to control the motion and motion of some or all of the instrument arm assembly 230 or 240, the first gate assembly 212b, the second gate assembly 214b, the image capture assembly 220 (including image capture, temperature control, etc.), the multi-bendable body 222 of the image capture assembly 220, the multi-bendable body 252 or 262 of the assistive arm assembly, the arm assembly 250 or 260, and so forth.
Method of positioning surgical device 200 in a forward-facing position (e.g., method 700)
As shown in fig. 7 and 8A-8E, an example embodiment of a surgical device 200 can be configurable to perform a forward-directed surgical action or procedure in one of a variety of ways. In an example embodiment, an external anchor 1 may be provided and mounted/anchored to a stationary object. A port assembly 210 may be provided (e.g., act 702), and an instrument arm assembly may be provided (e.g., act 704). A second instrument arm assembly may be provided, as well as any of the desired image capture assemblies 220 and/or 320 and assistive arm assemblies 250 and/or 260. The port assembly 210 may be inserted (e.g., act 706) into the patient's opening (and cavity) and anchored in place using external anchor 1 (e.g., act 708), and the workable volume/space in the cavity may be such as via the use of CO 2 And/or other gases, vacuum suction means, and/or retractable hook means. In an exemplary embodiment, a controllable swing assembly 1000 may also be used. For example, a patient may be provided with a working abdominal cavity having a height of about 10-12. Thereafter, one or more image capture assemblies 220, one or more accessory arm assemblies (e.g., act 710), and/or one or more accessory arm assemblies 250 or 260 (if desired) may be inserted into the port assembly 210 via the central access channel 210a, secured to the anchor port 216, and deployed in the patient's cavity. The surgical device 200 can then be used to perform surgery in any portion, area, and/or quadrant of the patient's cavityAn action or surgery. These processes will now be described below with reference to at least fig. 7, 8A-8E, 9B, and 10B.
(1) Providing external anchors and installing port assemblies
In an example embodiment, as shown in fig. 1A and 1B, an external anchor 1 may be provided and mounted/anchored to one or more stationary objects, such as a side rail 300 of a surgical table/bed. One or more segments 2, 6, 10, and 14 of external anchor 1 may cooperate to fix the position (including orientation) of port assembly 210 in or around the opening of the patient using one or more couplings 4,8, 12, and 16 of external anchor 1.
In an example embodiment, as shown in fig. 10A and 10B, the external anchor 1 may include a controllable swivel assembly 1000 operable to provide one or more additional degrees of in vitro freedom, such as via a first swivel portion 1002, a second swivel portion 1004, and/or a third swivel portion 1006. The controllable swing assembly 1000 may further include a motor 1002a for the first swing portion 1002, a motor 1004a for the second swing portion 1004, a motor 1006a for the third swing portion 1006, one or more support arms 1008, and one or more locks 1010.
First turnaround portion 1002 may be operable to provide translational movement of port assembly 210 along an axis defined by the elongated length of port assembly 210, as indicated by arrow a, as one of the degrees of freedom outside the body. In an example embodiment, the translational movement provided by the first turnaround portion 1002 as shown by arrow a may be between about 0 to 50 mm.
Controllable swivel assembly 1000 may further include a second swivel portion 1004 operable to provide torsional or rotational motion of port assembly 210 about an axis depicted as axis Y as another of the degrees of freedom in vitro. In an example embodiment, the twisting or rotational motion provided by the second turnaround portion 1004 as shown by arrow B may be between about +/-180 degrees.
The controllable swing assembly 1000 may also include a third swing portion 1006 operable to provide pivotal or rotational movement of the port assembly 210 about an axis perpendicular to the Y-axis, such as the axis depicted by axis Z (which is out of the page), as another of the degrees of freedom outside the body. In an example embodiment, the Z-axis or center of rotation may be located around the opening of the patient, such as at an intermediate point of the abdominal wall. In an exemplary embodiment, the pivotal or rotational movement provided by the third turnaround portion 1006 as shown by arrow C may be between about +/-80 degrees.
It is recognized in the present disclosure that in an example embodiment, the controllable swing assembly 1000 may include a first swing portion 1002, a second swing portion 1004, and/or a third swing portion 1006. The controllable swiveling assembly 1000 can further include other swiveling portions (not shown) when more than three degrees of external freedom and/or movement/rotation are desired and/or required in addition to those degrees of freedom that can be provided by the first swiveling portion 1002, the second swiveling portion 1004, and the third swiveling portion 1006.
The controllable swiveling assembly 1000 including the first swiveling portion 1002, the second swiveling portion 1004, and/or the third swiveling portion 1006 can be controlled locally or remotely by a surgical team.
In an example embodiment, the port assembly 210 may be installed and secured to the external anchor 1 or 1000. As shown in fig. 8A-8E, the second end 214 of the port assembly 210 may be inserted into an opening of a patient into a cavity of the patient, and the first end 212 of the port assembly 210 may be secured to the external anchor 1 or 1000. Thereafter, a workable volume/space in the cavity may be formed in the patient's cavity, such as via the use of CO 2 And/or other gases, vacuum suction means, and/or retractable hook means. By so doing, the first and second gate assemblies 212b, 214b may be deployed to the closed position. Insufflation of the cavity can be accomplished in one or more of a variety of ways. For example, the insufflation port of port assembly 210 can be used to provide the desired insufflation.
(2) Inserting and attaching an image capture assembly
After the workable volume/space in the cavity has been formed and the port assembly 210 is secured in place, as shown in fig. 8A, the image capture assembly 220 may be inserted through the central access channel 210a and secured to the anchor port 216 of the port assembly 210. To do so while maintaining a workable volume/space, the first gate assembly 212b may be configured to an open position while the second gate assembly 214b is configured to a closed position. Once the first gate assembly 212b is in the open position, the image capture assembly 220 may be inserted into the intermediate section 213. The first gate assembly 212b may then be configured to the closed position after the image capture assembly 220 passes through the first gate assembly 212b. The second gate assembly 214b may then be configured to the open position. It is recognized in the present disclosure that the workable volume/space in the cavity is maintained via insufflation since the first gate assembly 212b is configured to the closed position. Once the second gate assembly 214b is in the open position, the image capture assembly 220 can be inserted into the patient's cavity and the anchor portion 220a secured to the anchor port 216. The second shutter member 214b may then be configured to the closed position after the image capture assembly 220 passes through the second shutter member 214b. The multi-bendable body 222 of the image capture assembly 220 may then be configured/controlled to bend at one or more locations along the multi-bendable body 222 such that the image capture assembly 220 may be oriented in a forward-facing position (as shown in fig. 2B and 3B).
A separate image capture assembly 320 may also be inserted through the port assembly 210 in a similar manner as described above. Once inserted through the port assembly 210 into the patient's cavity, the separate image capture assembly 320 may then be attached/secured to the inner wall of the patient's cavity via the magnetic anchor 310.
(3) Inserting and attaching a first instrument arm assembly
The instrument arm assembly 230 may be inserted through the central access channel 210a and secured to the anchor port 216 of the port assembly 210. To do so while maintaining a workable volume/space, the first gate assembly 212b may again be configured to the open position while the second gate assembly 214b is configured to the closed position. As shown in fig. 8B, once the first gate assembly 212B is in the open position, the instrument arm assembly 230 may be inserted into the intermediate section 213. As shown in fig. 8C, the first gate assembly 212b may then be configured to the closed position after the instrument arm assembly 230 passes through the first gate assembly 212b into the intermediate section 213. As shown in fig. 8D, the second gate assembly 214b may then be configured to the open position. As shown in fig. 8E, once the second gate assembly 214b is in the open position, the instrument arm assembly 230 may be inserted into the patient's cavity and the securing portion 231a secured to the anchor port 216. The second gate assembly 214b may then be configured to the closed position after the instrument arm assembly 230 passes through the second gate assembly 214b.
(5) Inserting and attaching one or more additional instrument arm assemblies, one or more assistive arm assemblies, and/or one or more additional camera arm assemblies
One or more additional instrument arm assemblies 240, one or more accessory arm assemblies 250 or 260, and/or one or more additional image capture assemblies (not shown) may also be inserted into the port assembly 210 via the central access channel 210a in the same manner as described above for the image capture assembly 220 and the instrument arm assembly 230.
(6) Disassembling and removing an instrument arm assembly, image capture assembly and assistive arm assembly
The instrument arm assembly 230, the image capture assembly 220, the other instrument arm assembly 240 (if provided), the other image capture assembly (if provided), and one or more other assistive arm assemblies 250 or 260 (if provided) may be detached (or loosened) from the anchor port 216 and removed from the patient's cavity via the central access channel 210a of the port assembly 210 in a manner substantially opposite to that described above for insertion and attachment.
Method of positioning surgical device 200 in an opposite orientation (e.g., method 700)
As shown in fig. 7 and 8F-8K, an example embodiment of a surgical device 200 may be configurable to perform surgical actions or procedures in opposite directions in one of a variety of ways. In an example embodiment, an external anchor 1 may be provided and mounted/anchored to a stationary object in a manner similar to that described above and in the present disclosure.A port assembly 210 may be provided (e.g., act 702), and an instrument arm assembly may be provided (e.g., act 704). A second instrument arm assembly may be provided, as well as any of the desired image capture assemblies 220 and/or 320 and assistive arm assemblies 250 and/or 260. The port assembly 210 may be inserted (e.g., act 706) into the patient's opening (and cavity) and anchored in place using the external anchor 1 (e.g., act 708), and the workable volume/space in the cavity may be such as via the use of CO 2 And/or other gases, vacuum suction means, and/or retractable hook means. In an exemplary embodiment, a controllable swing assembly 1000 may also be used. For example, the patient may be provided with a working abdominal cavity having a height of about 10-12. Thereafter, one or more image capture assemblies 220, one or more accessory arm assemblies (e.g., act 710), and one or more accessory arm assemblies 250 or 260 (if desired) may be inserted into the port assembly 210 via the central access channel 210a, secured to the anchor port 216, and deployed in the patient's cavity. For insertion, each of the image capture assembly 220, instrument arm assembly 230 and/or 240, and assistive arm assembly 250 and/or 260 is inserted into an opposite orientation as compared to the forward-oriented position described above and in this disclosure. The surgical device 200 may then be used to perform a surgical action or procedure in any portion, area, and/or quadrant of the patient's cavity. These processes will now be described below with reference to at least fig. 7, 8F-8K, 9B, and 10B.
(1) Providing an external anchor and installing a port assembly
In an example embodiment, port assembly 210 may be installed and secured to external anchor 1 or 1000. As shown in fig. 8A-8E, the second end 214 of the port assembly 210 is inserted into an opening of a patient into a cavity of the patient, and the first end 212 of the port assembly 210 is secured to the external anchor 1 or 1000. Thereafter, a workable volume/space in the cavity may be formed in the patient's cavity, such as via the use of CO 2 And/or other gases, vacuum suction means, and/or retractable hook means. By doing soIn doing so, the first gate assembly 212b and the second gate assembly 214b may be deployed to the closed position. Insufflation of the cavity can be accomplished in one or more of a variety of ways. For example, the insufflation port of port assembly 210 can be used to provide the desired insufflation.
(2) Inserting and attaching an image capture assembly
After the workable volume/space in the cavity has been formed and the port assembly 210 is secured in place, the image capture assembly 220 may be inserted with the image capture body 224 finally inserted through the central access channel 210a and secured to the anchor port 216 of the port assembly 210, as shown in fig. 8F. To do so while maintaining a workable volume/space, the first gate assembly 212b may be configured to the open position while the second gate assembly 214b is configured to the closed position. Once the first gate assembly 212b is in the open position, the image capture assembly 220 may be inserted into the intermediate section 213. The first gate assembly 212b may then be configured to the closed position after the image capture assembly 220 passes through the first gate assembly 212b. The second gate assembly 214b may then be configured to the open position. It is recognized in the present disclosure that the workable volume/space in the cavity is maintained via insufflation since the first gate assembly 212b is configured to the closed position. Once the second gate assembly 214b is in the open position, the image capture assembly 220 may be fully inserted into the patient's cavity with the image capture body 224 closest to the anchor port 216. The multi-bendable body 222 of the image capture assembly 220 may then be configured/controlled to bend at one or more locations along the multi-bendable body 222 such that the image capture assembly 220 may face a position opposite in direction next to the outer surface of the port assembly 210 (as shown in fig. 2A and 3A). The image capture assembly 220 may then be provided adjacent the outer surface of the port assembly 210 such that the anchor portion 220a of the image capture assembly 220 is adjacent the anchor port 216. The anchor portion 220a of the image capture assembly 220 may then be secured to the anchor port 216. The second shutter member 214b may be configured to the closed position after the image capture assembly 220 passes through the second shutter member 214b.
A separate image capture component 320 may also be inserted through the port component 210 in a similar manner as described above. Once inserted through the port assembly 210 into the patient's cavity, the separate image capture assembly 320 may then be attached/secured to the inner wall of the patient's cavity via the magnetic anchor 310.
(3) Inserting and attaching a first instrument arm assembly
To insert the instrument arm assembly 230 through the central access channel 210a and secure it to the anchor port 216 of the port assembly 210 while maintaining the workable volume/space, the first gate assembly 212b may again be configured to the open position while the second gate assembly 214b is configured to the closed position. As shown in fig. 8G, once the first gate assembly 212b is in the open position, the instrument arm assembly 230 may be inserted with the end effector 239, 342, 344 finally inserted into the intermediate section 213. As shown in fig. 8H, the first gate assembly 212b may then be configured to the closed position after the instrument arm assembly 230 passes through the first gate assembly 212b into the intermediate section 213. As shown in fig. 8I, the second gate assembly 214b may then be configured to the open position. As shown in fig. 8J, once the second gate assembly 214b is in the open position, the instrument arm assembly 230 can be fully inserted into the patient's cavity with the end effector 239, 342, 344 nearest the anchor port 216. The instrument arm assembly 230 may then be rotated 180 degrees (if desired) and/or moved so that the instrument arm assembly 230 may be next to the outer surface of the port assembly 210. The instrument arm assembly 230 may then be pulled adjacent the outer surface of the port assembly 210 such that the securing portion 231a of the shoulder section 231 of the instrument arm assembly 230 is adjacent the anchor port 216. As shown in fig. 8K, the fixed portion 231a of the instrument arm assembly 230 may then be fixed to the anchor port 216. The second gate assembly 214b can be configured to the closed position at any time after at least the end effector 230 of the instrument arm assembly 230 passes through the second gate assembly 214b.
(5) Inserting and attaching one or more additional instrument arm assemblies, one or more assistive arm assemblies, and/or one or more additional camera arm assemblies
One or more additional instrument arm assemblies 240, one or more assistive arm assemblies 250 or 260, and/or one or more additional image capture assemblies (not shown) may also be inserted and mounted in an opposite manner via the central access channel 210a of the port assembly 210 in the same manner as described above for the image capture assembly 220 and the instrument arm assembly 230.
(6) Disassembling and removing an instrument arm assembly, image capture assembly and assistive arm assembly
The instrument arm assembly 230, the image capture assembly 220, the other instrument arm assembly 240 (if provided), the other image capture assembly (if provided), and the one or more other assistive arm assemblies 250 or 260 (if provided) may be detached (or released) from the anchor port 216 and removed from the patient's cavity via the central access channel 210a of the port assembly 210 in a substantially opposite manner to that described above for insertion and attachment, in an opposite direction.
While various embodiments in accordance with the disclosed principles have been described above, it should be understood that they have been presented by way of example only, and not limitation. Thus, the breadth and scope of an exemplary embodiment described in the present disclosure should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the claims and their equivalents as issued from the present disclosure. Furthermore, the above advantages and features are provided in described embodiments, but shall not limit the application of such issued claims to processes and structures accomplishing any or all of the above advantages.
For example, "assembly," "device," "portion," "segment," "member," "body," or other similar words are to be broadly interpreted as encompassing one portion, or more than one portion, as attached or connected together.
Various terms used herein have specific meanings within the technical field. Whether a particular term should be considered such a "technical term" depends on the context in which the term is used. "connected," "attached," "anchored," "in communication with … …," "in communication … …," "in association with … …," "in association with … …," or other similar terms should generally be construed broadly to include instances where attachment, connection, and anchoring are direct between referenced elements or through one or more intermediaries between referenced elements. These and other terms will be construed in light of the context in which the disclosure is used, and will be understood by those of ordinary skill in the art in light of the disclosure. The above definitions do not exclude other meanings that may be assigned to those terms based on the disclosed context.
As mentioned in this disclosure, a computing device, processor, and/or system may be a virtual machine, computer, node, instance, host, and/or machine in a networked or non-networked computing environment. A networked computing environment may be a collection of devices connected by a communication channel that facilitates communication between the devices and allows the devices to share resources. As also mentioned in this disclosure, a computing device may be a device deployed to execute a program that operates as a socket listener and may include a software instance.
Resources may encompass any type of resource for running an instance, including hardware (e.g., servers, clients, mainframe computers, networks, network storage, data sources, memory, central processing unit time, scientific instruments, and other computing devices) and software, software licenses, available network services, and other non-hardware resources, or a combination thereof.
The networked computing environment may include, but is not limited to, a computing grid system (computing grid system), a distributed computing environment, a cloud computing environment, and the like. Such networked computing environments include hardware and software infrastructures configured to form virtual organizations including a plurality of resources, which may be geographically dispersed over multiple locations.
Moreover, the scope of coverage of this application and any patents issued from this application can extend to one or more communication protocols, including TCP/IP.
Words of comparison, measurement, and timing (timing), such as "at this time," "equivalent form," "during … …," "complete," etc., should be understood to mean "substantially at this time," "substantially equivalent form," "substantially during … …," "substantially complete," etc., where "substantially" means that such comparison, measurement, and timing is actually feasible to achieve the desired result, whether implicitly or explicitly stated.
Further, paragraph headings herein are provided to be consistent with the suggestions of 37CFR 1.77, or to provide structural clues herein. These headings should not limit or characterize one or more inventions set forth in any claims that may issue from this disclosure. In particular and by way of example, although the headings refer to a "technical field," the claims should not be limited by the language selected under this heading to describe the so-called technical field. Further, the description of technology in the "background" is not to be construed as an admission that the technology is prior art to any one or more of the inventions in this disclosure. Neither is the "summary" intended to be considered a characterization of one or more inventions set forth in the published claims. In addition, any reference in this disclosure to the singular of "the invention" should not be used to prove that there is only one point of novelty in this disclosure. A number of inventions may be set forth according to the limitations of the number of claims issuing from this disclosure, and these claims correspondingly define one or more inventions protected thereby, and equivalents thereof. In all instances, the scope of these claims should be construed in light of the disclosure as being limited only by the language of the claims, and not by the headings herein.

Claims (25)

1. A surgical system for performing Natural Orifice Transluminal Endoscopic Surgery (NOTES), the surgical system comprising:
an end effector assembly having:
a first instrument assembly having a first instrument for performing a surgical action, the first instrument configurable to move relative to a first axis; and
a wrist assembly securable to the first instrument assembly, the wrist assembly having a wrist driven portion configurable to be driven in such a manner as to move the first instrument relative to a second axis, the second axis being different from the first axis;
a first arm assembly securable to the end effector assembly, the first arm assembly having:
a first arm assembly coupling portion for coupling the first arm assembly to a second arm assembly;
a wrist driving section configurable to drive the wrist driven section; and
an elbow driven portion configurable to be driven in such a manner as to move the first arm assembly relative to a third axis;
a second arm assembly having:
a second arm assembly body having a first end for connection to the first arm assembly coupling portion and a second end opposite the first end for connection to a shoulder segment;
an elbow drive assembly fixedly received in said second arm assembly body, said elbow drive assembly having at least a first integrated motor and an elbow drive portion, and wherein said elbow drive portion is controllable by said first integrated motor to drive said elbow driven portion;
a shoulder pitch drive assembly securely housed in the second arm assembly body, the shoulder pitch drive assembly having at least a second integrated motor; and
a shoulder yaw drive assembly securely housed in the second arm assembly body, the shoulder yaw drive assembly having at least a third integrated motor;
a shoulder pitch link having:
a proximal end secured to the shoulder section;
a distal end;
a first coupling portion coupling the proximal end and the distal end of the shoulder pitch coupling portion, the first coupling portion for pivotally rotating the distal end of the shoulder pitch coupling portion about a first shoulder axis formed through the first coupling portion;
a shoulder pitch driven portion housed in said shoulder pitch coupling, said shoulder pitch driven portion in communication with said proximal end of said shoulder pitch coupling in such a way that said distal end of said shoulder pitch coupling rotates about said first shoulder axis when said shoulder pitch driven portion is driven to rotate about said first shoulder axis, wherein a central axis of said shoulder pitch driven portion is said first shoulder axis; and
a shoulder pitch drive portion housed in the shoulder pitch coupling, the shoulder pitch drive portion being fixed to the distal end of the shoulder pitch coupling, the shoulder pitch drive portion being configured in such a way that when the shoulder pitch drive portion is driven to rotate, the shoulder pitch drive portion drives the shoulder pitch driven portion to rotate about the first shoulder axis;
a shoulder yaw coupling portion having:
a proximal end secured to the distal end of the shoulder pitch link;
a distal end secured to the second end of the second arm assembly body;
a second coupling portion coupling the proximal end and the distal end of the shoulder yaw coupling portion, the second coupling portion for enabling the distal end of the shoulder yaw coupling portion to pivotally rotate about a second shoulder axis formed through the second coupling portion, an
A second shoulder pitch driven portion housed in said shoulder yaw linkage, said second shoulder pitch driven portion in communication with said shoulder pitch drive portion in such a manner that said second shoulder pitch driven portion drives said shoulder pitch drive portion to rotate when said second shoulder pitch driven portion is driven to rotate by said second integrated motor; and
the shoulder segment.
2. The surgical system of claim 1 wherein the surgical system,
wherein the end effector assembly further comprises a second instrument assembly having:
a second instrument for performing a surgical action, the second instrument configurable to move relative to the first axis;
wherein the wrist driven portion is configurable to be driven by the wrist driving portion in such a manner as to move the second instrument relative to the second axis when the first arm assembly is secured to the wrist assembly.
3. The surgical system of claim 2, wherein the second instrument assembly further comprises:
a second instrument driven portion configurable to be driven in such a manner as to move the second instrument relative to the first axis; and
a second instrument insulating portion may be provided between the second instrument and the second instrument driven portion, the second instrument insulating portion being configurable to electrically isolate the second instrument from at least the second instrument driven portion when the second instrument insulating portion is provided between the second instrument and the second instrument driven portion.
4. The surgical system of claim 2, wherein the second instrument is configurable to further receive a second current applied from an energy source in order to perform an action of an electrosurgical instrument.
5. The surgical system of claim 1 wherein the surgical system,
further comprising a port assembly;
wherein the second arm assembly is securable to the port assembly via the shoulder segment.
6. The surgical system of claim 1 wherein said end effector assembly is securable to and releasable from said first arm assembly.
7. The surgical system of claim 6, wherein the first instrument is configurable to be secured to and released from the end effector assembly.
8. The surgical system of claim 1, wherein the first instrument assembly further comprises:
a first instrument driven portion configurable to be driven in such a manner as to move the first instrument relative to the first axis; and
a first instrument isolation portion may be provided between the first instrument and the first instrument driven portion, the first instrument isolation portion being configurable to electrically isolate the first instrument from at least the first instrument driven portion when the first instrument isolation portion is provided between the first instrument and the first instrument driven portion.
9. The surgical system of claim 8, wherein the first arm assembly further comprises:
a first arm assembly body having a first end and a second end opposite the first end;
a wrist connector portion provided at the first end of the first arm assembly body, the wrist connector portion configurable to be secured to the wrist assembly;
a first instrument drive assembly fixedly received in the first arm assembly body, the first instrument drive assembly having at least a fourth integrated motor and a first instrument drive portion, wherein the first instrument drive portion is controllable by the fourth integrated motor to drive the first instrument driven portion when the wrist connector portion is secured to the wrist assembly;
a wrist drive assembly fixedly received in the first arm assembly body, the wrist drive assembly having at least a fifth integrated motor and a wrist drive portion, wherein the wrist drive portion is provided at the second end of the first arm assembly body, and wherein the wrist drive portion is controllable by the fifth integrated motor to drive the wrist driven portion when the wrist connector portion is secured to the wrist assembly; and
a first arm assembly drive assembly fixedly received in the first arm assembly body, the first arm assembly drive assembly having at least a sixth integrated motor and a first arm assembly drive portion, wherein the first arm assembly drive portion is provided at the first end of the first arm assembly body, and wherein the first arm assembly drive portion is controllable by the sixth integrated motor to drive movement of the first arm assembly body relative to the first arm assembly coupling portion.
10. The surgical system of claim 1, wherein the first instrument is configurable to further receive a first current applied from an energy source in order to perform an action of an electrosurgical instrument.
11. A surgical system for performing Natural Orifice Transluminal Endoscopic Surgery (NOTES), the surgical system comprising:
an end effector assembly having:
a first instrument assembly having a first instrument for performing a surgical action, the first instrument configurable to move relative to a first axis; and
a first arm assembly securable to the end effector assembly, the first arm assembly having a first arm assembly coupling portion for coupling the first arm assembly to a second arm assembly, wherein the first arm assembly coupling portion includes an elbow driven portion configurable to be driven in such a manner as to move the first arm assembly relative to a second axis formed through the first arm assembly coupling portion;
a second arm assembly having:
a second arm assembly body having a first end for connection to the first arm assembly coupling portion and a second end opposite the first end for connection to a shoulder segment;
an elbow drive assembly fixedly received in said second arm assembly body, said elbow drive assembly having at least a first integrated motor and an elbow drive portion, and wherein said elbow drive portion is controllable by said first integrated motor to drive said elbow driven portion;
a shoulder pitch drive assembly securely housed in the second arm assembly body, the shoulder pitch drive assembly having at least a second integrated motor; and
a shoulder yaw drive assembly securely housed in the second arm assembly body, the shoulder yaw drive assembly having at least a third integrated motor;
a shoulder pitch link having:
a proximal end secured to the shoulder section;
a distal end;
a first coupling portion coupling the proximal end and the distal end of the shoulder pitch coupling portion, the first coupling portion for pivotally rotating the distal end of the shoulder pitch coupling portion about a first shoulder axis formed through the first coupling portion;
a shoulder pitch driven portion housed in said shoulder pitch coupling, said shoulder pitch driven portion in communication with said proximal end of said shoulder pitch coupling in such a way that said distal end of said shoulder pitch coupling rotates about said first shoulder axis when said shoulder pitch driven portion is driven to rotate about said first shoulder axis, wherein a central axis of said shoulder pitch driven portion is said first shoulder axis; and
a shoulder pitch drive portion housed in the shoulder pitch coupling, the shoulder pitch drive portion being fixed to the distal end of the shoulder pitch coupling, the shoulder pitch drive portion being configured in such a way that when the shoulder pitch drive portion is driven to rotate, the shoulder pitch drive portion drives the shoulder pitch driven portion to rotate about the first shoulder axis;
a shoulder yaw coupling portion having:
a proximal end secured to the distal end of the shoulder pitch coupling;
a distal end secured to the second end of the second arm assembly body;
a second coupling portion coupling the proximal end and the distal end of the shoulder yaw coupling portion, the second coupling portion for enabling the distal end of the shoulder yaw coupling portion to pivotally rotate about a second shoulder axis formed through the second coupling portion,
a shoulder yaw driven portion in communication with the proximal end of the shoulder yaw coupling in such a manner that the distal end of the shoulder yaw coupling rotates about the second shoulder axis when the shoulder yaw driven portion is driven to rotate about the second shoulder axis, wherein a central axis of the shoulder yaw driven portion is the second shoulder axis;
a shoulder yaw drive section secured to the distal end of the shoulder yaw coupling, the shoulder yaw drive section configured in such a way that the shoulder yaw drive section drives the shoulder yaw driven section to rotate about the second shoulder axis when the shoulder yaw drive section is driven to rotate by the third integrated motor; and
a second shoulder pitch driven portion in communication with the shoulder pitch drive portion in such a manner that the second shoulder pitch driven portion drives the shoulder pitch drive portion to rotate when the second shoulder pitch driven portion is driven to rotate by the second integrated motor; and
the shoulder segment.
12. The surgical system of claim 11 wherein the first and second surgical instruments are,
wherein the end effector assembly further comprises a second instrument assembly having:
a second instrument for performing a surgical action, the second instrument configurable to move relative to the first axis.
13. The surgical system of claim 12, wherein the second instrument assembly further comprises:
a second instrument driven portion configurable to be driven in such a manner as to move the second instrument relative to the first axis; and
a second instrument insulating portion may be provided between the second instrument and the second instrument driven portion, the second instrument insulating portion being configurable to electrically isolate the second instrument from at least the second instrument driven portion when the second instrument insulating portion is provided between the second instrument and the second instrument driven portion.
14. The surgical system of claim 12, wherein the second instrument is configurable to further receive a second current applied from an energy source to perform an action of an electrosurgical instrument.
15. The surgical system of claim 11 wherein the surgical system,
further comprising a port assembly;
wherein the second arm assembly is securable to the port assembly via the shoulder segment.
16. The surgical system of claim 11 wherein said end effector assembly is securable to and releasable from said first arm assembly.
17. The surgical system of claim 11, wherein the first instrument assembly further comprises:
a first instrument driven portion configurable to be driven in such a manner as to move the first instrument relative to the first axis; and
a first instrument isolation portion may be provided between the first instrument and the first instrument driven portion, the first instrument isolation portion being configurable to electrically isolate the first instrument from at least the first instrument driven portion when the first instrument isolation portion is provided between the first instrument and the first instrument driven portion.
18. The surgical system of claim 11, wherein the first instrument is configurable to further receive a first current applied from an energy source in order to perform an action of an electrosurgical instrument.
19. A surgical system for performing Natural Orifice Transluminal Endoscopic Surgery (NOTES), the surgical system having a port assembly secured to an external anchor, the surgical system comprising:
an end effector assembly having:
a first instrument assembly having:
a first instrument for performing a surgical action, the first instrument configurable to move relative to a first axis; and
a first arm assembly securable to the end effector assembly;
a second arm assembly having:
a second arm assembly body having a first end and a second end opposite the first end, the first end of the second arm assembly body securable to the first arm assembly and the second end of the second arm assembly body securable to a shoulder segment;
a shoulder pitch drive assembly securely housed in the second arm assembly body, the shoulder pitch drive assembly having at least a first integrated motor;
a shoulder yaw drive assembly securely housed in the second arm assembly body, the shoulder yaw drive assembly having at least a second integrated motor;
a shoulder pitch coupling having:
a proximal end secured to the shoulder section;
a distal end;
a first coupling portion coupling the proximal end and the distal end of the shoulder pitch coupling portion, the first coupling portion for pivotally rotating the distal end of the shoulder pitch coupling portion about a first shoulder axis formed through the first coupling portion;
a shoulder pitch driven portion housed in said shoulder pitch coupling, said shoulder pitch driven portion in communication with said proximal end of said shoulder pitch coupling in such a manner that said distal end of said shoulder pitch coupling rotates about said first shoulder axis when said shoulder pitch driven portion is driven to rotate about said first shoulder axis, wherein a central axis of said shoulder pitch driven portion is said first shoulder axis; and
a shoulder pitch drive portion housed in the shoulder pitch coupling, the shoulder pitch drive portion being fixed to the distal end of the shoulder pitch coupling, the shoulder pitch drive portion being configured in such a way that when the shoulder pitch drive portion is driven to rotate, the shoulder pitch drive portion drives the shoulder pitch driven portion to rotate about the first shoulder axis; and
a shoulder yaw coupling portion having:
a proximal end secured to the distal end of the shoulder pitch link;
a distal end secured to the second end of the second arm assembly body;
a second coupling portion coupling the proximal end and the distal end of the shoulder yaw coupling portion, the second coupling portion for enabling the distal end of the shoulder yaw coupling portion to pivotally rotate about a second shoulder axis formed through the second coupling portion,
a shoulder yaw driven portion in communication with the proximal end of the shoulder yaw coupling in such a manner that the distal end of the shoulder yaw coupling rotates about the second shoulder axis when the shoulder yaw driven portion is driven to rotate about the second shoulder axis, wherein a central axis of the shoulder yaw driven portion is the second shoulder axis;
a shoulder yaw drive section secured to the distal end of the shoulder yaw coupling, the shoulder yaw drive section configured in such a way that the shoulder yaw drive section drives the shoulder yaw driven section to rotate about the second shoulder axis when the shoulder yaw drive section is driven to rotate by the second integrated motor; and
a second shoulder pitch driven portion in communication with the shoulder pitch drive portion in such a manner that the second shoulder pitch driven portion drives the shoulder pitch drive portion to rotate when the second shoulder pitch driven portion is driven to rotate by the first integrated motor; and
the shoulder segment.
20. The surgical system of claim 19, wherein the first and second guide members are,
wherein the end effector assembly further comprises a second instrument assembly having:
a second instrument for performing a surgical action, the second instrument configurable to move relative to the first axis.
21. The surgical system of claim 20, wherein the second instrument assembly further comprises:
a second instrument driven portion configurable to be driven in such a manner as to move the second instrument relative to the first axis; and
a second instrument insulating portion may be provided between the second instrument and the second instrument driven portion, the second instrument insulating portion being configurable to electrically isolate the second instrument from at least the second instrument driven portion when the second instrument insulating portion is provided between the second instrument and the second instrument driven portion.
22. The surgical system of claim 20, wherein the second instrument is configurable to further receive a second current applied from an energy source to perform an action of an electrosurgical instrument.
23. The surgical system of claim 19 wherein said end effector assembly is securable to and releasable from said first arm assembly.
24. The surgical system of claim 19, wherein the first instrument assembly further comprises:
a first instrument driven portion configurable to be driven in such a manner as to move the first instrument relative to the first axis; and
a first instrument isolation portion may be provided between the first instrument and the first instrument driven portion, the first instrument isolation portion being configurable to electrically isolate the first instrument from at least the first instrument driven portion when the first instrument isolation portion is provided between the first instrument and the first instrument driven portion.
25. The surgical system of claim 19, wherein the first instrument is configurable to further receive a first current applied from an energy source in order to perform an action of an electrosurgical instrument.
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US15/340,678 US9855108B2 (en) 2014-04-22 2016-11-01 Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems
PCT/CN2017/086203 WO2018082295A1 (en) 2016-11-01 2017-05-26 Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems
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