CN109567943B - Surgical system for performing intracorporeal surgical procedures - Google Patents
Surgical system for performing intracorporeal surgical procedures Download PDFInfo
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- CN109567943B CN109567943B CN201811148472.6A CN201811148472A CN109567943B CN 109567943 B CN109567943 B CN 109567943B CN 201811148472 A CN201811148472 A CN 201811148472A CN 109567943 B CN109567943 B CN 109567943B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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Abstract
An example surgical system includes an end effector assembly, an arm assembly, and a elbow coupling assembly. The arm assembly includes a proximal end and a distal end. The elbow coupling assembly secures the proximal end of the arm assembly to the distal end of the second arm assembly. The elbow coupling assembly includes first and second elbow coupling portions. The first elbow coupling portion includes a first end section secured to the proximal end of the arm assembly, a second end section, and a first coupling portion coupling the first end section and the second end section of the first elbow coupling portion. The second elbow coupling portion includes a first end section secured to the second end section of the first elbow coupling portion, a second end section secured to the distal end of the second arm assembly, and a second coupling portion coupling the first and second end sections of the second elbow coupling portion. The first end sections of the first and second elbow couplings are pivotable relative to first and second axes, respectively, the first and second axes being formed by centerlines drawn through the first and second couplings, respectively.
Description
The application is a divisional application of an invention patent application with the patent application number of 201710713638.3, which is filed 8, 18 in 2017 and is named as a surgical system for performing an in vivo and in vitro surgical operation.
Cross Reference to Related Applications: this application is a continuation-in-progress application to U.S. application No.15/605,864 (which was filed on 25/5/2017 and is part of U.S. application No.15/340,660 (which was filed on 1/11/2016 and is part of U.S. application No.15/340,660, which was filed on 1/2016 and is part of U.S. application No.15/044,889, and is part of U.S. application No.15/044,895, and is part of U.S. application No.14/693,207), U.S. application No.15/340,678 (which was filed on 1/2016, a continuation-in-part application of U.S. application Ser. No.15/044,889, a continuation-in-part application of U.S. application Ser. No.15/044,895, and a continuation-in-part application of U.S. application Ser. No.14/693,207), a continuation-in-part application of U.S. application Ser. No.15/340,699 (which was filed on 2016, 11, 1; and is a continuation-in-part application of U.S. application Ser. No.14/693,207), a continuation-in-part application of U.S. application Ser. No.14/693,207 (which was filed on 2015, 4, 22, priority of U.S. provisional application No.61/982,717, filed 4/22 2014, continuation-in-part application of U.S. application No.15/044,895 (filed 2016, 16/14/693,207), and continuation-in-part application of U.S. application No.15/044,889 (filed 5, 16/2), filed 2016)Application No.15/044,889, filed on 2016/2/16, is a continuation-in-part application of U.S. application No.14/693,207)), the contents of all of which 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 a 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 oftentimes 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, the insertion of a camera and various laparoscopic instruments into the abdominal cavity of a patient will require one or more additional incisions.
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 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, devices, and methods for addressing one or more problems in surgical robotic systems, devices, and methods (including those described above and herein).
In an exemplary embodiment, a surgical system for performing an in vivo surgical procedure is described. The system may include an end effector assembly having a first instrument for performing a surgical action. The system may include a first arm assembly having an elongated first arm assembly body, a proximal end, and a distal end. The distal end of the first arm assembly may be securable to the end effector assembly. The system may include an elbow coupling assembly that may be configured to secure the proximal end of the first arm assembly to the distal end of the second arm assembly. The elbow coupling assembly may include a series connected arrangement of a first elbow coupling portion and a second elbow coupling portion. The first elbow coupling portion may include a first end segment secured to the proximal end of the first arm assembly. The first elbow coupling portion may also include a second end section. The first elbow coupling portion may also include a first elongated coupling that couples the first end section and the second end section of the first elbow coupling portion. The first end section of the first elbow coupling portion may be pivotable relative to a first axis formed by a centerline drawn through the first elongated coupling. The second elbow coupling portion may include a first end section secured to the second end section of the first elbow coupling portion. The second elbow coupling portion may also include a second end segment secured to the distal end of the second arm assembly. The second elbow coupling portion may also include a second elongated coupling that couples the first end section and the second end section of the second elbow coupling portion. The first end segment of the second elbow coupling portion may be pivotable relative to a second axis formed by a centerline drawn through the second elongated coupling.
In another exemplary embodiment, a surgical system for performing an in vivo surgical procedure is described. The system may include an end effector assembly having a first instrument for performing a surgical action. The system may also include a first arm assembly having an elongated first arm assembly body, a proximal end, and a distal end. The distal end of the first arm assembly may be securable to the end effector assembly. The system may also include an elbow coupling assembly configured to secure the proximal end of the first arm assembly to the distal end of the second arm assembly. The elbow coupling assembly may include a series connected arrangement of a first elbow coupling portion and a second elbow coupling portion. The first elbow coupling portion may be for enabling the first arm assembly to pivot relative to the first axis. The second elbow coupling portion may be secured to the first elbow coupling portion. The second elbow coupling portion may be for enabling the first arm assembly to pivot relative to the second axis. The second axis may be different from the first axis. The second arm assembly may include an elongated second arm assembly body, a first elbow drive assembly, and a second elbow drive assembly. The first elbow drive assembly may be housed in the second arm assembly body. The first elbow drive assembly may include a first integrated motor configured to drive the first elbow coupling portion to pivot the first arm assembly relative to the first axis. The second elbow drive assembly may be housed in the second arm assembly body. The second elbow drive assembly may include a second integrated motor configured to drive the second elbow coupling portion to pivot the first arm assembly relative to the second axis.
In another exemplary embodiment, a surgical system for performing an in vivo surgical procedure is described. The system may include an end effector assembly having a first instrument for performing a surgical action. The system may also include a first arm assembly having an elongated first arm assembly body, a proximal end, and a distal end. The distal end of the first arm assembly may be securable to the end effector assembly. The system may also include an elbow coupling assembly configured to secure the proximal end of the first arm assembly to the distal end of the second arm assembly. The elbow coupling assembly may include a series connected arrangement of a first elbow coupling portion and a second elbow coupling portion. The first elbow coupling portion may be for enabling the first arm assembly to pivot relative to the first axis. The second elbow coupling portion may be for enabling the first arm assembly to pivot relative to the second axis. The second axis may be different from the first axis. The system may also include a second arm assembly. The system may further include a shoulder coupling assembly configured to secure the proximal end of the second arm assembly to the shoulder section. The shoulder coupling assembly may comprise a series connection arrangement of a first shoulder coupling portion and a second shoulder coupling portion. The system may further comprise a shoulder section at a proximal end of the system.
In another exemplary embodiment, a surgical system for performing an in vivo or ex vivo surgical procedure is described. The system may include an end effector assembly, a first arm assembly, and a second arm assembly. The end effector assembly may be provided at a distal end of the surgical system. The end effector assembly may include a series connected arrangement of an instrument assembly and a wrist assembly. The instrument assembly may include a first instrument for performing a surgical action. The first arm assembly may be securable to the wrist assembly at the first end. The first arm assembly may include an elongated first arm assembly body. The first arm assembly may also include a first instrument drive assembly housed in the first arm assembly body. The first instrument drive assembly may include a first integrated motor configurable to pivotally move the first instrument relative to the first axis. The first arm assembly may also include a second instrument drive assembly housed in the first arm assembly body. The first arm assembly may further include a wrist drive assembly housed in the first arm assembly body. The wrist drive assembly may include a second integrated motor configurable to pivotally move the instrument assembly relative to the second axis. The second axis may be different from the first axis. The first arm assembly may further include a first arm assembly drive assembly housed in the first arm assembly body. The first arm assembly drive assembly may include a third integrated motor configurable to rotate at least the end effector assembly relative to a third axis. The third axis may be formed by a centerline drawn through the first arm assembly body. A toggle joint assembly may be configured to secure the second end of the first arm assembly to the first end of the second arm assembly. The elbow coupling assembly may include a series connected arrangement of an elbow pitch (pitch) coupling portion and an elbow yaw (sway) coupling portion. The elbow pitch link may be configurable to be driven to pivotally move the first arm assembly relative to the fourth axis. The elbow yaw linkage may be configurable to be driven to pivotally move the first arm assembly relative to the fifth axis. The fifth axis may be different from the fourth axis. The second arm assembly may include an elongated second arm assembly body. The second arm assembly may further include an elbow pitch drive assembly housed in the second arm assembly body. The elbow pitch drive assembly may include a fourth integrated motor configurable to drive the elbow pitch link to pivotally move the first arm assembly relative to the fourth axis. The second arm assembly may further include a yaw drive assembly housed in the second arm assembly body. The first arm assembly may include a first integrated motor configured to drive the first yaw linkage portion to pivotally move the first arm assembly relative to the first axis.
In an exemplary embodiment, a surgical system for performing an in vivo surgical procedure is described. The system may include an end effector assembly, a first arm assembly, an elbow pitch link portion, an elbow yaw link portion, and a second arm assembly. The end effector assembly may be provided at a distal end of the surgical system. The end effector assembly may include a series connected arrangement of an instrument assembly and a wrist assembly. The instrument assembly may include a first instrument for performing a surgical action. The first arm assembly may be securable to the wrist assembly at the first end. The first arm assembly may include an elongated first arm assembly body. The first arm assembly may also include a first instrument drive assembly housed in the first arm assembly body. The first instrument drive assembly may include a first integrated motor configurable to pivotally move the first instrument relative to the first axis. The first arm assembly may also include a second instrument drive assembly housed in the first arm assembly body. The first arm assembly may further include a wrist drive assembly housed in the first arm assembly body. The wrist drive assembly may include a second integrated motor configurable to pivotally move the instrument assembly relative to the second axis. The second axis may be different from the first axis. The first arm assembly may further include a first arm assembly drive assembly housed in the first arm assembly body. The first arm assembly drive assembly may include a third integrated motor configurable to rotate at least the end effector assembly relative to a third axis. The third axis may be formed by a centerline drawn through the first arm assembly body. The elbow pitch link portion may be configured to secure the second end of the first arm assembly to the elbow yaw link portion. The elbow pitch link portion may be configurable to be driven to pivotally move the first arm assembly relative to the elbow yaw link portion. The elbow yaw linkage may be configured to secure the elbow pitch linkage to the first end of the second arm assembly. The elbow yaw link portion may be configurable to be driven to pivotally move the elbow pitch link portion relative to the second arm assembly.
In an exemplary embodiment, a surgical system for performing an in vivo surgical procedure is described. The system may include an end effector assembly, a first arm assembly, a elbow linkage assembly, a second arm assembly, and a shoulder linkage assembly. The end effector assembly may be provided at a distal end of the surgical system. The end effector assembly may include a series connected arrangement of an instrument assembly and a wrist assembly. The instrument assembly may include a first instrument for performing a surgical action. The first arm assembly may be securable to the wrist assembly at the first end. The first arm assembly may include an elongated first arm assembly body. The first arm assembly may also include a first instrument drive assembly housed in the first arm assembly body. The first instrument drive assembly may include a first integrated motor configurable to pivotally move the first instrument relative to the first axis. The first arm assembly may also include a second instrument drive assembly housed in the first arm assembly body. The first arm assembly may further include a wrist drive assembly housed in the first arm assembly body. The wrist drive assembly may include a second integrated motor configurable to pivotally move the instrument assembly relative to the second axis. The second axis may be different from the first axis. The first arm assembly may further include a first arm assembly drive assembly housed in the first arm assembly body. The first arm assembly drive assembly may include a third integrated motor configurable to rotate at least the end effector assembly relative to a third axis. The third axis may be formed by a centerline drawn through the first arm assembly body. The elbow linkage assembly may be configured to secure the second end of the first arm assembly to the first end of the second arm assembly. The elbow linkage assembly may include a series connected arrangement of an elbow pitch linkage portion and an elbow yaw linkage portion. The elbow pitch link portion may be configurable to pivotally move the first arm assembly relative to the fourth axis. The elbow yaw linkage may be configurable to pivotally move the first arm assembly relative to the fifth axis. The fifth axis may be different from the fourth axis. The second arm assembly may include an elongated second arm assembly body. The second arm assembly may further include an elbow pitch drive assembly housed in the second arm assembly body. The elbow pitch drive assembly may include a fourth integrated motor configurable to drive the elbow pitch link to pivotally move the first arm assembly relative to the fourth axis. The second arm assembly may further include a yaw drive assembly housed in the second arm assembly body. The elbow yaw drive assembly may include a fifth integrated motor configurable to drive the elbow yaw linkage portion to pivotally move the first arm assembly relative to the fifth axis. The second arm assembly may further include a shoulder pitch drive assembly housed in the second arm assembly body. The shoulder pitch drive assembly may comprise a sixth integrated motor configurable to drive the shoulder pitch coupling portion to pivotally move the second arm assembly relative to the sixth axis. The second arm assembly may further include a shoulder yaw drive assembly housed in the second arm assembly body. The shoulder yaw drive assembly may include a seventh integrated motor configurable to drive the shoulder yaw coupling portion to pivotally move the second arm assembly relative to the seventh axis. The seventh axis may be different from the sixth axis. The shoulder coupling assembly may be configured to secure the second end of the second arm assembly to the shoulder section. The shoulder coupling assembly may include a series connection arrangement of a shoulder pitch coupling portion and a shoulder yaw coupling portion. The shoulder pitch link portion may be configurable to pivotally move the second arm assembly relative to the sixth axis. The shoulder yaw coupling portion may be configurable to pivotally move the second arm assembly relative to the seventh axis. The shoulder section may be provided at a proximal end of the surgical system.
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;
FIG. 2B is an illustration of a perspective view of an example embodiment of a surgical device configured in a forward-facing position;
FIG. 2C is another illustration of a perspective view of an example embodiment of a surgical device configured in an opposite orientation;
FIG. 2D is another illustration of a perspective view of an example embodiment of a surgical device configured in a forward-facing position;
FIG. 3A is another illustration of a perspective view of an example embodiment of a surgical device configured in an oppositely directed position;
FIG. 3B is another illustration of a perspective view of an example embodiment of a surgical device configured in a forward-facing position;
FIG. 3C is another illustration of a perspective view of an example embodiment of a surgical device configured in an oppositely directed position;
FIG. 3D is another illustration of a perspective view of an example embodiment of a surgical device configured in a forward-facing position;
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 exemplary 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 the 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. 5P is another illustration of a side view of an example embodiment of an instrument arm assembly;
FIG. 5Q is another illustration of a side view of an example embodiment of an instrument arm assembly;
FIG. 5R is another illustration of a perspective view of an example embodiment of an instrument arm assembly;
FIG. 5S is another illustration of a side view of an example embodiment of an instrument arm assembly;
FIG. 5T is another illustration of a side cross-sectional view of an example embodiment of an instrument arm assembly;
FIG. 5U is another illustration of a top cross-sectional view of an exemplary embodiment of a second arm assembly;
FIG. 5V is another 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 a side view 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.
Although for purposes of convenience, like reference numerals may be used in the drawings to refer to like elements, it is to be appreciated that each of the various exemplary embodiments can be considered as completely different variations.
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 terms "in 8230 \8230:" in "may include" in 8230; \8230, in "and" in 8230 \8230: "on 8230, 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 8230; \8230, when" or "when 8230; \8230, 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 procedures (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 in providing anchoring 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 of 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 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 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)
An illustration of an example embodiment of a surgical device or system (e.g., 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 the patient's natural orifice, such as the rectum or vagina for performing natural orifice endoscopic surgery (or NOTES), hereinafter referred to as an "opening"). 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 (e.g., instrument arm assembly 240), 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 configurable assemblies of segments 2, 6, 10 and 14 and an external anchor connector 16, the segments 2, 6, 10 and 14 communicating with each other via couplings or connecting portions 4,8 and 12. External anchor 1 may be operable to securely fix the position and/or orientation (hereinafter "position") of port assembly 210 in or around a single opening of a patient, and may also be operable to provide an anchoring force and/or reaction force sufficient to stabilize against forces expected or necessary to be applied by at least one or more instruments of surgical device 200, including 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 in vitro. 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 the external anchor 1 may also be operable to assist and/or facilitate desired movement of the 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, 3B, 3C, and 3D, 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, 2D, 3B, and 3D). 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, 2C, 3A, and 3C).
Port component (e.g., port component 210)
Example embodiments of a port assembly (e.g., port assembly 210) are illustrated in fig. 2A-D, 3A-D, 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 segment 212 and the second end segment 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-D, 3A-D, 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 segment 212 in such a manner that the first end passage 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 segment 212 in such a manner that the first end passage 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 is configurable 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 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 lumen of the patient.
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 channel 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 cavity of a patient 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 an 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 as shown4D when the second gate assembly 214b is configured to the closed position. When the second gate assembly 214b is configured to the closed position, the second deployable portion 214b can be operable to substantially or completely block 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 first source 212b 'and 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, 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 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 section 212, the second end section 214, and/or the intermediate section 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 segment 212, second end 214, and/or intermediate segment 213 may be about 33mm, and the inner diameter (unobstructed) of first end segment 212, second end 214, and/or intermediate segment 213 may be about 19mm. The length of first end section 212 may be between about 80 and 100mm, the length of second end section 214 may be between about 80 and 200mm, and the length of intermediate section 213 may be between about 60 and 80 mm. 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 smaller or larger 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 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.
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-bowed, 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 manner 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 manner 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 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 gases may further be operable to help provide and/or maintain insufflation of the patient's cavity during the surgical procedure. 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 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 this 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, the image capturing body 224 and the multi-bendable body 222 may each be substantially 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 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 interior 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. While certain figures and/or descriptions provided in this disclosure may be directed to the first instrument arm assembly 230 and its elements, it is understood in this disclosure that such figures and/or descriptions may also be applicable to other instrument arm assemblies, including the second instrument arm assembly 240, a third instrument arm assembly (not shown), a fourth instrument arm assembly (not shown), and so forth.
One or more of the instrument arm assemblies (such as 230, 240) may include a configurable or configured series (or linear) connection 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 a shoulder segment (e.g., shoulder assembly 231) shown in fig. 5C and 5R) and a plurality of linkage portions (such as at least the elbow linkage assembly 234 and the shoulder linkage assembly 232 shown in fig. 5L, 5M, 5S, and 5T), and an end effector assembly 340 (having at least a wrist assembly and an instrument assembly 237, the instrument assembly 237 including an instrument (one or more) 239 having an instrument and/or an instrument 344) integrated and/or connected to one or more of the instrument arm segments and/or linkage portions. While certain of the figures and descriptions in this disclosure may be directed to instrument arm assemblies 230, 240 ( instrument arm assemblies 230, 240 having a series coupling arrangement of an end effector assembly 340 at the distal end, followed by a first arm assembly 330, followed by an elbow linkage assembly 234 (having an elbow pitch linkage portion 350', followed by an elbow yaw linkage portion 350), followed by a second arm assembly 360, followed by a shoulder linkage assembly 232 (having a shoulder pitch linkage portion 370, followed by a shoulder yaw linkage portion 380), followed by a shoulder segment 231 at the proximal end), it is understood in this disclosure that the series coupling arrangement of instrument arm assemblies 230, 240 may be in other orders as well, and include (or not include) other elements. For example, the series-connected arrangement may include the end effector assembly 340 at the distal end, followed by the first arm assembly 330, followed by the elbow pitch link portion 350', followed by the elbow yaw link portion 350, followed by the second arm assembly 360, followed by the shoulder pitch link portion 370, followed by the shoulder yaw link portion 380, followed by the shoulder segment 231 at the proximal end. As another example, the series-connected arrangement may include the end effector assembly 340 at the distal end, followed by the first arm assembly 330, followed by the elbow yaw coupling portion 350, followed by the elbow pitch coupling portion 350', followed by the second arm assembly 360, followed by the shoulder yaw coupling portion 380, followed by the shoulder pitch coupling portion 370, followed by the shoulder segment 231 at the proximal end. In yet another example, the series-connected arrangement may include the end effector assembly 340 at the distal end, followed by the first arm assembly 330, followed by the elbow pitch link portion 350', followed by the elbow yaw link portion 350, followed by the second arm assembly 360, followed by the shoulder yaw link portion 380, followed by the shoulder pitch link portion 370, followed by the shoulder segment 231 at the proximal end. As another example, the series-connected arrangement may include the end effector assembly 340 at the distal end, followed by the first arm assembly 330, followed by the elbow pitch link portion 350', followed by the elbow yaw link portion 350, followed by the second arm assembly 360, followed by the shoulder pitch link portion 370, followed by the shoulder segment 231 at the proximal end. As another example, the series-connected arrangement may include the end effector assembly 340 at the distal end, followed by the first arm assembly 330, followed by the elbow pitch link portion 350', followed by the elbow yaw link portion 350, followed by the second arm assembly 360, followed by the shoulder yaw link portion 380, followed by the shoulder segment 231 at the proximal end. As another example, the series connection arrangement can include the end effector assembly 340 at the distal end, followed by the first arm assembly 330, followed by the elbow yaw coupling portion 350, followed by the elbow pitch coupling portion 350', followed by the second arm assembly 360, followed by the shoulder pitch coupling portion 370, followed by the shoulder segment 231 at the proximal end. As another example, the series-connected arrangement can include the end effector assembly 340 at the distal end, followed by the first arm assembly 330, followed by the elbow yaw coupling portion 350, followed by the elbow pitch coupling portion 350', followed by the second arm assembly 360, followed by the shoulder yaw coupling portion 380, followed by the shoulder segment 231 at the proximal end. In yet another example, the series-connected arrangement can include an end effector assembly 340 at the distal end, followed by a first arm assembly 330, followed by an elbow yaw coupling portion 350, followed by a second arm assembly 360, followed by a shoulder pitch coupling portion 370, followed by a shoulder yaw coupling portion 380, followed by a shoulder segment 231 at the proximal end. As another example, the series connection arrangement can include the end effector assembly 340 at the distal end, followed by the first arm assembly 330, followed by the elbow yaw coupling portion 350, followed by the second arm assembly 360, followed by the shoulder yaw coupling portion 380, followed by the shoulder pitch coupling portion 370, followed by the shoulder segment 231 at the proximal end. Other series connection arrangements with more or fewer elements are also contemplated without departing from the teachings of the present disclosure.
The end effectors or instruments 239, 342, 344 may be any instrument suitable for use in surgery, 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 or instrument 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, and/or 339 shown in fig. 5E, 5G, 5J, and 5K, and at least the integrated motors 362, 364, 366, and/or 369 shown in fig. 5M, 5N, 5O, 5T, 5U, and 5V), each operable to provide at least one degree of freedom to the instrument arm assembly. Each integrated motor (e.g., integrated motor 332, 334, 336, 339, 362, 364, 366, and/or 369) 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 the port assembly) in the instrument arm assembly (or arm assembly, such as the first arm assembly 330, the second arm assembly 360, and/or the shoulder assembly 231), such as in the housing 331 and/or 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-D, 3A-D, 5A, 5B, 5P, and 5Q, each of the instrument arm assemblies including the first instrument arm assembly 230 may include a shoulder section 231, a second arm assembly 360, a first arm assembly 330, and an end effector assembly 340. The instrument arm assembly 230 may further include: a shoulder coupling assembly 232 having a shoulder yaw coupling segment 380 and/or a shoulder pitch coupling segment 370; an elbow coupling assembly 234 having an elbow yaw coupling segment 350 and/or an elbow pitch coupling segment 350'; a third coupling portion (or wrist segment) 236 pivotally movable relative to axis B (as shown in at least fig. 5D-H); and an end effector coupling portion 238 that is pivotally movable relative to 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 a patient. For example, the shoulder coupling assembly 232 may be operable to provide one or more degrees of freedom (e.g., one or more degrees of freedom similar to one or more degrees of freedom of a human shoulder) to the second arm assembly 360. Specifically, the shoulder coupling assembly 232 may include a shoulder yaw coupling segment 380 operable to provide movement (e.g., rotational or pivotal movement) of the second arm assembly 360 relative to the axis E (as shown in at least fig. 5L, 5M, 5S, and 5T). The shoulder coupling assembly 232 may include a shoulder pitch coupling segment 370 that is operable to provide movement (e.g., rotational or pivotal movement) of the second arm assembly 360 relative to the axis D (as shown in at least fig. 5L, 5M, 5S, and 5T). Axis E may be different from axis D (e.g., axis E may be substantially orthogonal to axis D). As another example, elbow coupling assembly 234 may be operable to provide one or more degrees of freedom to first arm assembly 330. Specifically, the elbow linkage assembly 234 may include an elbow yaw linkage assembly 350 operable to provide movement (e.g., rotational or pivotal movement) of the first arm assembly 330 relative to the axis C (as shown in at least fig. 5L, 5M, 5S, and 5T). The elbow coupling assembly 234 may include an elbow pitch coupling segment 350 'operable to provide motion (e.g., rotational or pivotal motion) of the first arm assembly 330 relative to the axis C' (as shown in at least fig. 5S and 5T). Axis C may be different from axis C '(e.g., axis C may be substantially orthogonal to axis C'). As another example, the third coupling portion (or wrist segment) 236 may be operable to provide one or more degrees of freedom to the instrument assembly 237 similar to one or more degrees of freedom of a human wrist. Specifically, the third coupling portion (or wrist segment) 236 may be operable to provide movement (e.g., rotational or pivotal movement) of the instrument assembly 237 relative to axis B (as shown in at least fig. 5L, 5M, 5S, and 5T). As another example, the end effector coupling portion 238 (as shown in at least fig. 5A-B, 5P-Q, 5H) may be operable to provide one or more degrees of freedom to the end effector or instrument 239, 342, 344. Specifically, the end effector coupling portion 238 may be operable to provide movement (e.g., rotational or pivotal movement) of the end effector or instrument 239, 342, 344 relative to the axis a (as shown in at least fig. 5D-I, 5L-M, 5S-T). Axis B may be different from axis a (e.g., axis B may be substantially orthogonal to axis a). 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', 236, and/or 238, 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 configuration without departing from the teachings of the present disclosure. In an example embodiment, each instrument arm assembly may further include one or more internally integrated motors 332, 334, 336, 339, 362, 364, 366, 369, or the like, operable to actuate (e.g., via first instrument drive portion 332a, second instrument drive portion 334a, wrist drive portion 336a, first arm assembly drive assembly 339a (which may be configured to drive first arm assembly 330 relative to axis F, as shown in at least fig. 5K), elbow yaw drive portion 362a, elbow pitch drive portion 362a ', shoulder pitch drive portion 364a, shoulder yaw drive portion 366 a) each coupling portion (e.g., a first instrument driven portion 342a, a second instrument driven portion 344a, a wrist driven portion 346a, a first arm assembly driven assembly 347 (which may be configured to be driven by the first arm assembly drive assembly 339a to drive the first arm assembly 330 relative to the axis F, as shown in at least fig. 5K), an elbow yaw driven portion 352, an elbow pitch driven portion 352', a shoulder pitch driven portion 364b, a shoulder yaw driven portion 366b, 366c (if desired), 366d (if desired)), and gears of the coupling portions 232, 370, 380, 234, 350', 236, and 238 and/or the segments 231, 360, 330, and 340. In this regard, in example embodiments, each of the integrated motors, coupling portions, and/or segments described above and in the present disclosure may be operable to communicate to and/or from one or more nearby and/or remotely located computing devices/controllers of the surgical team 904 via wired and/or wireless communication, such as to receive control commands and/or send 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.
End effector assembly (e.g., end effector assembly 340)
An example embodiment of an end effector assembly (e.g., end effector assembly 340) may include an instrument assembly 237. The end effector assembly 340 may also include a wrist assembly. The instrument assembly 237 may include a first instrument assembly and a second instrument assembly. While the figures illustrate an end effector assembly having a first instrument and a second instrument, it will be 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 the disclosure. The wrist assembly may include a wrist coupling portion 236 and may also include a wrist connector 348.
(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. Although 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 configurable 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, first instrument driven portion 342a 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. Although the figures illustrate an end effector assembly having one first instrument driven portion, it will be understood in this disclosure that an end effector assembly may have more than one first instrument driven portion without departing from the teachings of the disclosure.
In example embodiments in which the end effector assembly 340 may be detached (i.e., released) from the arm assembly 330, it will be appreciated that the first instrument drive 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 (i.e., attached) to the arm assembly 330. In particular, the first instrument drive portion 332a of the 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 330, 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.
(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 an action 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 from (i.e., released from) the arm assembly 330, it will be appreciated 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 330. 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 330, 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 steel (such as 304/304L, 316/316L, and 420), pure titanium, titanium alloys (such as Ti6A14V, niTi), cobalt chromium alloys, and magnesium alloys. It is understood in this disclosure that other materials may also 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 housing 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 an action 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 help cut, coagulate, dry, 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 fixed or secured to the instrument assembly 237. 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 configurable to be driven by wrist driving portion 336a via integrated motor 336. Wrist driven portion 346a may be driven by wrist driving portion 336a in such a manner as to move instrument assembly 237 (including first instrument 342 and/or second instrument 344). For example, wrist driven portion 346a may be driven to pivotally 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 rotational (or pivotal) movement 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 pivotally 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 rotational (or pivotal) movement 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 rotational (or pivotal) movement 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. Axis B may be different from axis a (e.g., axis B may be substantially orthogonal to axis a).
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 cable and 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 assembly (e.g., first arm assembly 330, second arm assembly 360)
(i) First arm assembly (e.g., first arm assembly 330)
Exemplary embodiments of first arm assembly 330 are illustrated in at least fig. 5A-C, 5L-M, and 5S-T. 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 331), a first end 330a (or proximal end), and a second end 330b (or distal end) opposite the first end 330 a. The elbow pitch link portion 350' can be secured to the first end 330a and the end effector assembly 340 can be secured to the second end 330b. A wrist connector portion 338 may be provided at the second end 330b. The arm assembly body 331 may securely house one or more of a plurality of drive assemblies.
In an example embodiment, the arm assembly body 331 may securely house a first instrument drive assembly. The first instrument drive assembly may include a first integrated motor (e.g., first integrated motor 332) and may also include 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 331. 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. The first instrument driving portion 332a may be any mechanism, device, etc. that may be configured 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 331 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 may also include 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 331. 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. The second instrument driving portion 334a may be any mechanism, device, etc. that may be configured 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. Although 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 331 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 may also include a wrist drive portion (e.g., wrist drive portion 336 a). The wrist driving portion 336a may be provided at the second end 330b of the arm assembly body 331. 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 the wrist assembly. 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. Although 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 331 may also securely receive a first arm assembly drive assembly. The first arm assembly drive assembly may include a fourth integrated motor (e.g., fourth integrated motor 339), and may also include 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 331. The first arm assembly drive portion 339a may be controllable by a fourth integrated motor 339 to drive the first arm assembly driven portion 347 to drive the first arm assembly body 331 to move relative to an axis (e.g., axis F shown in fig. 5K). The axis F may be formed by the first arm assembly 330 (e.g., the axis F may be formed by a centerline drawn through the first arm assembly body 331). 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 331 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 wire and 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 330 having the first, second, third, fourth integrated motors 332, 334, 336, 339, the first, second, third, wrist, and first arm assembly drive portions 332a, 334a, 336a, and 339a, it is understood that the first arm assembly 330 may (or may not) include the first, second, third, fourth, first, second, wrist, and/or first arm assembly drive portions 332a, 334a, 336a, 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 any other location or element of the first arm assembly 330, the second arm assembly 360, and/or the arm assembly 230 without departing from the teachings of the present disclosure.
(ii) Second arm assembly (e.g., second arm assembly 360)
Exemplary embodiments of the second arm assembly 360 are illustrated in at least fig. 5A-C, 5L-M, and 5S-T. The second arm assembly 360 may be securable at one end (via the elbow yaw coupling portion 350 and/or the elbow pitch coupling portion 350') to the first arm assembly 330 and at the other end (via the shoulder yaw coupling portion 380 and/or the shoulder pitch coupling portion 370) to the shoulder segment 231. 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., detached) from first arm assembly 330. As shown in at least fig. 5L-N and 5S-U, the second arm assembly 360 may include a second arm assembly body or housing (e.g., second arm assembly body 360'), a first end 360a (or proximal end), and a second end 360b (or distal end) opposite the first end 360a. The elbow yaw linkage 350 or the elbow pitch linkage 350' may be fixed to the second end 360b. The shoulder pitch coupling portion 370 or the shoulder yaw coupling portion 380 may be secured to the first end 360a. As shown in at least fig. 5S and 5T, in an example embodiment, an end (e.g., a proximal end) of the elbow yaw link portion 350 may be secured to the second arm assembly 360 (e.g., a distal end, such as the second end 360 b), another end (e.g., a distal end) of the elbow yaw link portion 350 may be secured to the elbow pitch link portion 350 '(e.g., a proximal end), an end (e.g., a distal end) of the elbow pitch link portion 350' may be secured to the first arm assembly 330 (e.g., a proximal end, such as the first end 330 a), an end (e.g., a distal end) of the shoulder pitch link portion 370 may be secured to the second arm assembly 360 (e.g., a proximal end, such as the first end 360 a), another end (e.g., a proximal end) of the shoulder pitch link portion 370 may be secured to the shoulder yaw link portion 380 (e.g., a distal end), and an end (e.g., a proximal end) of the shoulder yaw link portion 380 may be secured to the shoulder segment 231 (e.g., a distal end). The second arm assembly body 360' may securely house one or more of the plurality of drive assemblies.
In an example embodiment, the second arm assembly body 360' may securely house the elbow pitch drive assembly. The elbow pitch drive assembly may include a fifth integrated motor (e.g., fifth integrated motor 362) and may also include an elbow pitch drive portion (e.g., elbow pitch drive portion 362 a'). The elbow pitch drive portion 362a' may be provided at a second end 360b (e.g., distal end) of the second arm assembly 360. The elbow pitch driving part 362a 'may be controllable by the fifth integrated motor 362 to drive the elbow pitch driven part 352'. The elbow pitch drive portion 362a 'may be any mechanism, device, etc. that may be configured to drive the elbow pitch driven portion 352'. In an example embodiment, the elbow pitch drive portion 362a ' may be configurable to drive the elbow pitch driven portion 352' to pivotally move or rotate the first arm assembly 330 relative to an axis (e.g., axis C '). In other words, the fifth integrated motor 362 may be configurable to pivotally move or rotate the first arm assembly 330 relative to the second arm assembly 360 and/or the elbow yaw coupling portion 350 (and relative to axis C'). For example, the elbow pitch drive portion 362a' 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 cable and pulley) without departing from the teachings of the present disclosure. While the figures illustrate a second arm assembly having one elbow pitch drive portion 362a', it is understood in this disclosure that the second arm assembly may have more than one elbow pitch drive portion 362a without departing from the teachings of this disclosure.
The second arm assembly body 360' can also securely house the elbow yaw drive assembly. The elbow yaw drive assembly may include a sixth integrated motor (e.g., sixth integrated motor 369) and may further include an elbow yaw drive section (e.g., elbow pitch drive section 362 a). The elbow yaw drive portion 362a can be provided at a second end 360b (e.g., distal end) of the second arm assembly 360. The elbow yaw driving part 362a may be controllable by the sixth integrated motor 369 to drive the elbow pitch driven part 352. The elbow yaw drive section 362a can be any mechanism, device, etc. that can be configured to drive the elbow yaw driven section 352. In an example embodiment, the elbow yaw drive portion 362a may be configured to drive the elbow yaw driven portion 352 to pivotally move or rotate the first arm assembly 330 relative to an axis (e.g., axis C). In other words, the sixth integrated motor 369 may be configurable to pivotally move or rotate the elbow pitch link portion 350' (and thus, the first arm assembly 330) relative to the second arm assembly 360 (and relative to axis C). The axis C may be different from the axis C'. In an example embodiment, axis C may be substantially orthogonal to axis C'. The elbow yaw drive portion 362a 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 cable and pulley) without departing from the teachings of the present disclosure. Although the figures illustrate a second arm assembly having one elbow yaw drive section 362a, it is understood in this disclosure that the second arm assembly can have more than one elbow yaw drive section 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 seventh integrated motor (e.g., seventh 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 a first end 360a (e.g., proximal end) of the second arm assembly 360. Shoulder pitch drive portion 364a may be controllable by seventh integrated motor 364 to drive 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. In an example embodiment, the shoulder-pitch drive portion 364a may be configurable to drive the shoulder-pitch driven portion 364b to pivotally move or rotate the second arm assembly 360 relative to an axis (e.g., axis D). In other words, the seventh integrated motor 364 may be configurable to pivotally move or rotate the second arm assembly 360 relative to the shoulder yaw coupling portion 380 (and/or the shoulder segment 231) (and relative to the axis D). 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 wire 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 an eighth integrated motor (e.g., eighth integrated motor 366) and a shoulder yaw drive portion (e.g., shoulder yaw drive portion 366 a). The shoulder yaw drive portion 366a may be provided at a first end 360a (e.g., proximal end) of the second arm assembly 360. Shoulder yaw drive portion 366a may be controllable by an eighth integrated motor 366 to drive shoulder yaw driven portions 366b, 366c and/or 366d. Shoulder yaw drive section 366a may be any mechanism, device, etc. that may be configured to drive first shoulder yaw driven section 366 b. In an example embodiment, the shoulder yaw drive portion 366a may be configurable to drive the shoulder yaw driven portions 366b, 366c and/or 366d to pivotally move or rotate the second arm assembly 360 relative to an axis (e.g., axis E). In other words, the eighth integrated motor 366 may be configurable to pivotally move or rotate the shoulder pitch coupling portion 370 (and/or the second arm assembly 360) relative to the shoulder segment 231 (and relative to the axis E). Axis E may be different from axis D. In an example embodiment, axis E may be substantially orthogonal to axis D. 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 drive section 366a, one first shoulder yaw driven section 366b, one second shoulder yaw driven section 366c and one third shoulder yaw driven section 366d, it is understood in this disclosure that the second arm assembly may have more than one shoulder yaw drive section 366a, more than one first shoulder yaw driven section 366b, more than one second shoulder yaw driven section 366c and/or more than one third shoulder yaw driven section 366d without departing from the teachings of the disclosure. Further, it is understood in this disclosure that the second arm assembly may or may not have a 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 driving portion 366a and the third shoulder yaw driven portion 366d, without departing from the teachings of this disclosure.
Although the figures illustrate the second arm assembly 360 having a fifth integrated motor 362, a sixth integrated motor 369, a seventh integrated motor 364, an eighth integrated motor 366, an elbow pitch drive section 362a ', an elbow yaw drive section 362a, a shoulder pitch drive section 364a, and a shoulder yaw drive section 366a, it is understood that the second arm assembly 360 may or may not include the fifth integrated motor 362, the sixth integrated motor 369, the seventh integrated motor 364, the eighth integrated motor 366, the elbow pitch drive section 362a', the elbow yaw 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 further understood that the fifth integrated motor 362, sixth integrated motor 369, seventh integrated motor 364, eighth integrated motor 366, elbow pitch drive section 362a', elbow yaw drive section 362a, shoulder pitch drive section 364a, and shoulder yaw drive section 366a may be housed partially or entirely in any other location or element of the first arm assembly 330, second arm assembly 360, and/or arm assembly 230 without departing from the teachings of the present disclosure.
Each instrument arm assembly may be secured to anchor port 216 of port assembly 210 (and released from anchor port 216 of port assembly 210) via securing portion 231a of 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, 2D, 3B, and 3D) and/or in an opposite position (e.g., as shown in fig. 2A, 2C, 3A, and 3C). Further, in an example embodiment, the instrument arm assembly 230, 240 may or may not transition between a forward-facing position and an opposite-facing position. 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 and 5P to an opposite-facing position as shown in fig. 5B and 5Q, 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, and/or 238), and/or instrument arm segments (such as 231, 360, 330, and/or 340). 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 body may possess properties that enable a surgical team to change the temperature of the solid body, such as by applying electrical energy 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 assembly 230, 240 has been inserted and attached (or secured) to the port assembly 210, the end effector or instrument 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 motor 332, 334 when performing surgical actions and procedures, such as cutting and/or grasping actions. Further, the end effectors or instruments 239, 342, 344 may be configured, manually and/or via computing devices/controllers, to apply between approximately 0 to 10N of force via integrated motors 332, 334, 336, 339 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 segment including the shoulder segment 231, the second arm assembly 360, the first arm assembly 330, and/or the end effector assembly 340 may be generally cylindrical in shape. The instrument arm segments, including the shoulder segments 231, the second arm assembly 360, the first arm assembly 330, and/or the end effector assembly 340, 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 fixed portion 231a may be between about 350 and 450mm, the length of the shoulder segment 231 may be between about 15 and 40mm, the length of the second arm assembly 360 may be between about 80 and 105mm, the length of the first arm assembly 330 may be between about 65 and 90mm, the length of the end effector assembly 340 may be between about 5 and 30mm, and the overall length of the associated instrument arm may be between about 165 and 265 mm. In an exemplary embodiment, the length of the fixed portion 231a may be between about 340 and 400mm, the length of the shoulder segment 231 may be between about 15 and 25mm, the length of the second arm assembly 360 may be between about 90 and 100mm, the length of the first arm assembly 330 may be between about 75 and 85mm, the length of the end effector assembly 340 may be between about 15 and 25mm, and the overall length of the associated instrument arm may be between about 195 and 235 mm. In an example embodiment, the length of the instrument arm segment, the fixed portion 231a, and/or one or more of the end effectors or instruments 239, 342, 344 may also be adjusted by one or more nearby and/or remotely located computing devices (or systems) of the surgical team 904 before, during, and/or after insertion of the instrument arm assembly into the cavity of the patient. 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.
Each of the instruments including the fixed portion 231a, the shoulder section 231, the second arm assembly 360, the first arm assembly 330, the instrument assembly 237, the end effector or instrument 239, 342, 344, the shoulder yaw coupling 380 (or a coupling along axis E), the shoulder pitch coupling 370 (or a coupling along axis D), the elbow pitch coupling 350 '(or a coupling along axis C), the elbow yaw coupling 350 (or a coupling along axis C'), the third coupling 236 (or a coupling along axis B), and/or the instrument coupling 238 (or a coupling 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 elongated multi-bendable body similar to the multi-bendable body of the image capture assembly 220 described above and in the present disclosure, which 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 appreciated 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 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 anchor portion 220 of image capture assembly 220 and/or fixed portion 231a of instrument arm assembly 220), respectively, operable to attach (or fix) the assistive arm assembly 250 or 260 to the one or more anchor ports 216 of 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 controller 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 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 image capture assemblies 220 and/or 320 and assistive arm assemblies 250 and/or 260 as desired. 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, 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/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 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, 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 slewing assembly 1000 may further comprise a motor 1002a for the first slewing portion 1002, a motor 1004a for the second slewing portion 1004, a motor 1006a for the third slewing 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 indicated by arrow a may be between about 0 to 50 mm.
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 exemplary embodiment, the Z-axis or center of rotation may be located around the opening of the patient, such as at a mid-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 swing assembly 1000 including the first swing portion 1002, the second swing portion 1004, and/or the third swing portion 1006 may be controllable 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 gate assembly 214b may then be configured to the closed position after the image capture assembly 220 passes through the second gate assembly 214b. The multi-bendable body 222 of the image capture component 220 may then be configured/controlled to bend at one or more locations along the multi-bendable body 222 such that the image capture component 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. The second gate assembly 214b may then be configured to the open position, as shown in fig. 8D. 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 assistive 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 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 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, the instrument arm assembly 230 and/or 240, and the assistive arm assembly 250 and/or 260 are inserted in an opposite orientation as compared to the forward-facing position described above and in the present disclosure. Surgical action or procedure may then be performed in any portion, area, and/or quadrant of the patient's cavity using surgical device 200. These processes will now be described below with reference to at least fig. 7, 8F-8K, 9B, and 10B.
(1) Providing external anchors and installing port assemblies
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 so doing, the first and second gate assemblies 212b, 214b may be deployed to the closed position. The gas injection of the cavity can beIn 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 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
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 can 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 secured to the anchor port 216. The second gate assembly 214b may 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 granted 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, "" with respect to \8230; \8230communicates, "" with respect to \823030; associated with \8230; associated with \823030; or other similar terms should generally be construed broadly to include instances wherein attachment, connection, and anchoring are direct between the referenced elements or through one or more intermediaries between the 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 multiple resources, which may be geographically dispersed over multiple locations.
Moreover, the scope of coverage of this application, and of any patent issued from this application, can extend to one or more communication protocols, including TCP/IP.
The words of comparison, measurement and timing (timing), such as "at this time", "equivalent form", "during" \8230 ";" during "," complete ", etc., should be understood to mean" substantially at this time "," substantially equivalent form "," substantially at "\8230;". 8230, during "," substantially complete ", etc., wherein" substantially "means that such comparison, measurement and timing is actually feasible to achieve the desired result, whether implicitly or explicitly stated.
In addition, section headings herein are provided to be consistent with the suggestions of 37 CFR 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 "an 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 (21)
1. A surgical system for performing an in vivo surgical procedure, the surgical system comprising:
an end effector assembly having a first instrument for performing a surgical action;
a first arm assembly having an elongated first arm assembly body, a proximal end, and a distal end, the distal end of the first arm assembly being securable to the end effector assembly;
a toggle assembly configurable to secure the proximal end of the first arm assembly to a distal end of a second arm assembly, the second arm assembly having an elongated second arm assembly body, the toggle assembly comprising a series connected arrangement of:
a first elbow coupling portion having:
a first end segment secured to the proximal end of the first arm assembly;
a second end section;
a first coupling portion coupling the first end section and the second end section of the first elbow coupling portion, the first coupling portion for enabling the first end section of the first elbow coupling portion to pivotally rotate about a first axis formed through the first coupling portion, wherein the first elbow coupling portion is configured in such a way that the first axis formed through the first coupling portion is orthogonal to a central axis formed through the elongated first arm assembly body;
a first elbow driven portion in communication with the first end section of the first elbow coupling portion in such a manner that the first end section of the first elbow coupling portion rotates about the first axis when the first elbow driven portion is driven to rotate about the first axis, wherein a central axis of the first elbow driven portion is the first axis; and
a first elbow drive section fixed to the second end of the first elbow coupling section, the first elbow drive section configured in such a way that when the first elbow drive section is driven to rotate, the first elbow drive section drives the first elbow driven section to rotate about the first axis; and
a second elbow coupling portion having:
a first end section secured to the second end section of the first elbow coupling portion;
a second end segment secured to the distal end of the second arm assembly;
a second coupling the first and second end sections of the second elbow coupling portion, the second coupling for enabling the first end section of the second elbow coupling portion to pivotally rotate about a second axis formed through the second coupling, wherein the second elbow coupling portion is configured in such a way that the second axis formed through the second coupling is orthogonal to a central axis formed through the elongated second arm assembly body;
a second elbow driven portion in communication with the first end section of the second elbow coupling portion in such a manner that the first end section of the second elbow coupling portion rotates about the second axis when the second elbow driven portion is driven to rotate about the second axis, wherein a central axis of the second elbow driven portion is the second axis;
a second elbow drive section fixed to the second end of the second elbow coupling section, the second elbow drive section configured in such a way that when the second elbow drive section is driven to rotate, the second elbow drive section drives the second elbow driven section to rotate about the second axis; and
a third elbow driven portion in communication with the first elbow driving portion in such a manner that the third elbow driven portion drives the first elbow driving portion to rotate when the third elbow driven portion is driven to rotate; and
the second arm assembly having the elongated second arm assembly body, the second arm assembly comprising:
a first elbow drive assembly housed in the second elongated arm assembly body, the first elbow drive assembly having a first integrated motor housed in the second elongated arm assembly body, the first integrated motor configured to drive the third elbow driven portion to rotate the first end segment of the first elbow coupling portion about the first axis;
a second elbow drive assembly received in said second elongated arm assembly body, said second elbow drive assembly having a second integrated motor received in said second elongated arm assembly body, said second integrated motor configured to drive said second elbow drive portion to rotate said first end section of said second elbow coupling portion about said second axis; and
a third elbow drive assembly received in the second elongated arm assembly body, the third elbow drive assembly having a third integrated motor received in the second elongated arm assembly body, the third integrated motor configured to rotate the elbow coupling assembly relative to a central axis formed through the second elongated arm assembly body.
2. The surgical system of claim 1, wherein the first arm assembly comprises:
a first instrument drive assembly housed in the first arm assembly body, the first instrument drive assembly having an integrated motor configurable to pivotally move the first instrument relative to a third axis;
a wrist drive assembly housed in the first arm assembly body, the wrist drive assembly having an integrated motor configurable to pivotally move the first instrument relative to a fourth axis, the fourth axis being different from the third axis; and
a first arm assembly drive assembly housed in the first arm assembly body, the first arm assembly drive assembly having an integrated motor configurable to rotate at least the end effector assembly relative to a fifth axis, the fifth axis formed by a centerline drawn through the first arm assembly body.
3. The surgical system of claim 2 wherein the surgical system,
wherein the end effector assembly further comprises a second instrument; and is provided with
Wherein the first arm assembly further includes a second instrument drive assembly housed in the first arm assembly body, the second instrument drive assembly having an integrated motor configurable to pivotally move the second instrument relative to the third axis.
4. The surgical system of claim 1, further comprising:
a shoulder section at a proximal end of the surgical system; and
a shoulder coupling assembly configured to secure the proximal end of the second arm assembly to the shoulder section, the shoulder coupling assembly comprising a series connection arrangement of:
a shoulder pitch coupling portion configurable to pivotally move the second arm assembly relative to a third axis; and
a shoulder yaw coupling portion configurable to pivotally move the second arm assembly relative to a fourth axis, the fourth axis being different from the third axis.
5. The surgical system of claim 4, wherein the second arm assembly further comprises:
a shoulder-pitch drive assembly housed in the second arm assembly body, the shoulder-pitch drive assembly having an integrated motor configurable to drive the shoulder-pitch coupling portion to pivotally move the second arm assembly relative to the third axis; and
a shoulder yaw drive assembly housed in the second arm assembly body, the shoulder yaw drive assembly having an integrated motor configurable to drive the shoulder yaw linkage portion to pivotally move the second arm assembly relative to the fourth axis.
6. The surgical system of claim 1, wherein
The first elbow coupling portion is configured to pivotally connect the proximal end of the first arm assembly to the second elbow coupling portion; and is
The second elbow link portion is configured to pivotally connect the first elbow link portion to the distal end of the second arm assembly.
7. The surgical system of claim 4, wherein
The shoulder pitch link portion is configured to pivotally connect the proximal end of the second arm assembly to the shoulder yaw link portion; and is
The shoulder yaw coupling portion is configured to pivotally connect the shoulder pitch coupling portion to the shoulder segment.
8. The surgical system of claim 4, wherein
The shoulder yaw coupling portion is configured to pivotally connect the proximal end of the second arm assembly to the shoulder pitch coupling portion; and is
The shoulder pitch link portion is configured to pivotally connect the shoulder yaw link portion to the shoulder segment.
9. The surgical system of claim 1, wherein the second end section of the first elbow coupling portion and the first end section of the second elbow coupling portion are integrally formed as a single element.
10. A surgical system for performing an in vivo surgical procedure, the surgical system comprising:
an end effector assembly having a first instrument for performing a surgical action;
a first arm assembly having an elongated first arm assembly body, a proximal end, and a distal end, the distal end of the first arm assembly being securable to the end effector assembly;
a toggle assembly configured to secure the proximal end of the first arm assembly to a distal end of a second arm assembly, the second arm assembly having an elongated second arm assembly body, the toggle assembly comprising a series connected arrangement of:
a first elbow coupling portion having:
a first end segment secured to the proximal end of the first arm assembly;
a second end section;
a first coupling portion coupling the first end section and the second end section of the first elbow coupling portion, the first coupling portion for enabling the first end section of the first elbow coupling portion to pivotally rotate about a first axis formed through the first coupling portion, wherein the first elbow coupling portion is configured in such a way that the first axis formed through the first coupling portion is orthogonal to a central axis formed through the elongated first arm assembly body;
a first elbow driven portion in communication with the first end section of the first elbow coupling portion in such a manner that the first arm assembly rotates about the first axis when the first elbow driven portion is driven to rotate about the first axis, wherein a central axis of the first elbow driven portion is the first axis; and
a first elbow drive section fixed to the second end of the first elbow coupling section, the first elbow drive section configured in such a way that when the first elbow drive section is driven to rotate, the first elbow drive section drives the first elbow driven section to rotate about the first axis; and
a second elbow coupling portion having:
a first end segment secured to the second end segment of the first elbow coupling portion;
a second end segment secured to the distal end of the second arm assembly;
a second coupling portion coupling the first and second end sections of the second elbow coupling portion, the second coupling portion for enabling the first end section of the second elbow coupling portion to pivotally rotate about a second axis formed through the second coupling portion, wherein the second elbow coupling portion is configured in such a way that the second axis formed through the second coupling portion is orthogonal to a central axis formed through the elongated second arm assembly body;
a second elbow driven portion in communication with the first end section of the second elbow coupling portion in such a manner that the first arm assembly rotates about the second axis when the second elbow driven portion is driven to rotate about the second axis, wherein the central axis of the second elbow driven portion is the second axis;
a second elbow drive section fixed to the second end of the second elbow coupling section, the second elbow drive section configured in such a way that when the second elbow drive section is driven to rotate, the second elbow drive section drives the second elbow driven section to rotate about the second axis; and
a third elbow driven portion in communication with the first elbow driving portion in such a manner that the third elbow driven portion drives the first elbow driving portion to rotate when the third elbow driven portion is driven to rotate; and
the second arm assembly having:
the elongated second arm assembly body;
a first elbow drive assembly received in the second elongated arm assembly body, the first elbow drive assembly having a first integrated motor received in the second elongated arm assembly body, the first integrated motor configurable to drive the third elbow driven portion to rotate the first arm assembly relative to the first axis;
a second elbow drive assembly received in the second elongated arm assembly body, the second elbow drive assembly having a second integrated motor received in the first elongated arm assembly body, the second integrated motor configurable to drive the second elbow drive section to rotate the first arm assembly relative to the second axis; and
a third elbow drive assembly received in the elongated second arm assembly body, the third elbow drive assembly having a third integrated motor received in the elongated second arm assembly body, the third integrated motor configured to rotate the elbow coupling assembly relative to a central axis formed through the elongated second arm assembly body.
11. The surgical system of claim 10, wherein the first arm assembly comprises:
a first instrument drive assembly housed in the first arm assembly body, the first instrument drive assembly having an integrated motor configurable to pivotally move the first instrument relative to a third axis;
a wrist drive assembly housed in the first arm assembly body, the wrist drive assembly having an integrated motor configurable to pivotally move the first instrument relative to a fourth axis, the fourth axis being different than the third axis; and
a first arm assembly drive assembly housed in the first arm assembly body, the first arm assembly drive assembly having an integrated motor configurable to rotate at least the end effector assembly relative to a fifth axis, the fifth axis formed by a centerline drawn through the first arm assembly body.
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; and is
Wherein the first arm assembly further comprises a second instrument drive assembly housed in the first arm assembly body, the second instrument drive assembly having an integrated motor configurable to pivotally move the second instrument relative to the third axis.
13. The surgical system of claim 10, further comprising:
a shoulder section at a proximal end of the surgical system; and
a shoulder coupling assembly configured to secure the proximal end of the second arm assembly to the shoulder section, the shoulder coupling assembly comprising a series connected arrangement of:
a shoulder pitch coupling portion configurable to pivotally move the second arm assembly relative to a fourth axis; and
a shoulder yaw coupling portion configurable to pivotally move the second arm assembly relative to a fifth axis, the fifth axis being different from the fourth axis.
14. The surgical system of claim 13, wherein the second arm assembly further comprises:
a shoulder pitch drive assembly housed in the second arm assembly body, the shoulder pitch drive assembly having an integrated motor configurable to drive the shoulder pitch coupling portion to pivotally move the second arm assembly relative to the fourth axis; and
a shoulder yaw drive assembly housed in said second arm assembly body, said shoulder yaw drive assembly having an integrated motor configurable to drive said shoulder yaw coupling portion to pivotally move said second arm assembly relative to said fifth axis.
15. The surgical system of claim 13, wherein
The shoulder pitch link portion is configured to pivotally connect the proximal end of the second arm assembly to the shoulder yaw link portion; and is provided with
The shoulder yaw coupling portion is configured to pivotally connect the shoulder pitch coupling portion to the shoulder segment.
16. The surgical system of claim 13, wherein
The shoulder yaw coupling portion is configured to pivotally connect the proximal end of the second arm assembly to the shoulder pitch coupling portion; and is
The shoulder pitch coupling portion is configured to pivotally connect the shoulder yaw coupling portion to the shoulder segment.
17. A surgical system for performing an in vivo surgical procedure, the surgical system comprising:
an end effector assembly having a first instrument for performing a surgical action;
a first arm assembly having an elongated first arm assembly body, a proximal end, and a distal end, the distal end of the first arm assembly being securable to the end effector assembly; and
a toggle linkage assembly configured to secure the proximal end of the first arm assembly to a distal end of a second arm assembly, the second arm assembly having an elongated second arm assembly body, the toggle linkage assembly comprising a series connected arrangement of:
a first elbow coupling portion having:
a first end segment secured to the proximal end of the first arm assembly;
a second end section;
a first coupling portion coupling the first end section and the second end section of the first elbow coupling portion, the first coupling portion for enabling the first end section of the first elbow coupling portion to pivotally rotate about a first axis formed through the first coupling portion, wherein the first elbow coupling portion is configured in such a way that the first axis formed through the first coupling portion is orthogonal to a central axis formed through the elongated first arm assembly body;
a first elbow driven portion in communication with the first end section of the first elbow coupling portion in such a manner that the first end section of the first elbow coupling portion rotates about the first axis when the first elbow driven portion is driven to rotate about the first axis, wherein a central axis of the first elbow driven portion is the first axis; and
a first elbow drive section fixed to the second end of the first elbow coupling section, the first elbow drive section configured in such a way that when the first elbow drive section is driven to rotate, the first elbow drive section drives the first elbow driven section to rotate about the first axis; and
a second elbow coupling portion having:
a first end segment secured to the second end segment of the first elbow coupling portion;
a second end segment secured to the distal end of the second arm assembly;
a second coupling portion coupling the first and second end sections of the second elbow coupling portion, the second coupling portion for enabling the first end section of the second elbow coupling portion to pivotally rotate about a second axis formed through the second coupling portion, wherein the second elbow coupling portion is configured in such a way that the second axis formed through the second coupling portion is orthogonal to a central axis formed through the elongated second arm assembly body;
a second elbow driven portion in communication with the first end section of the second elbow coupling portion in such a manner that the first end section of the second elbow coupling portion rotates about the second axis when the second elbow driven portion is driven to rotate about the second axis, wherein a central axis of the second elbow driven portion is the second axis;
a second elbow drive section fixed to the second end of the second elbow coupling section, the second elbow drive section configured in such a way that when the second elbow drive section is driven to rotate, the second elbow drive section drives the second elbow driven section to rotate about the second axis; and
a third elbow driven portion in communication with the first elbow driving portion in such a manner that the third elbow driven portion drives the first elbow driving portion to rotate when the third elbow driven portion is driven to rotate; and
the second arm assembly having the elongated second arm assembly body, the second arm assembly comprising:
a first elbow drive assembly housed in the second elongated arm assembly body, the first elbow drive assembly having a first integrated motor housed in the second elongated arm assembly body, the first integrated motor configured to drive the third elbow driven portion to rotate the first end segment of the first elbow coupling portion about the first axis;
a second elbow drive assembly received in said second elongated arm assembly body, said second elbow drive assembly having a second integrated motor received in said second elongated arm assembly body, said second integrated motor configured to drive said second elbow drive portion to rotate said first end section of said second elbow coupling portion about said second axis; and
a third elbow drive assembly housed in the second elongated arm assembly body, the third elbow drive assembly having a third integrated motor housed in the second elongated arm assembly body, the third integrated motor configured to rotate the elbow coupling assembly relative to a central axis formed through the second elongated arm assembly body;
a shoulder coupling assembly configured to secure the proximal end of the second arm assembly to a shoulder segment, the shoulder coupling assembly comprising a series connection arrangement of:
a first shoulder coupling portion; and
a second shoulder coupling portion; and
the shoulder section at a proximal end of the surgical system.
18. The surgical system of claim 17, wherein
The first elbow coupling portion is configured to pivotally connect the proximal end of the first arm assembly to the second elbow coupling portion; and is
The second elbow link portion is configured to pivotally connect the first elbow link portion to the distal end of the second arm assembly.
19. The surgical system of claim 17, wherein
The first shoulder coupling portion is configured to pivotally connect the proximal end of the second arm assembly to the second shoulder coupling portion; and is
The second shoulder coupling portion is configured to pivotally connect the first shoulder coupling portion to the shoulder section.
20. The surgical system of claim 17, wherein
The second shoulder coupling portion is configured to pivotally connect the proximal end of the second arm assembly to the first shoulder coupling portion; and is
The first shoulder coupling portion is configured to pivotally connect the second shoulder coupling portion to the shoulder section.
21. The surgical system of claim 17, wherein one or more of the following applies:
the end effector assembly may be fixed to and releasable from the first arm assembly;
the first instrument is configurable to be secured to and released from the end effector assembly; and/or
The surgical system further includes a port assembly, wherein the shoulder section is securable to the port assembly.
Applications Claiming Priority (11)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US15/340,678 | 2016-11-01 | ||
| US15/340,660 US9724168B2 (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 |
| 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 |
| US15/340,660 | 2016-11-01 | ||
| US15/340,699 US9827058B1 (en) | 2016-11-01 | 2016-11-01 | Surgical robotic devices and systems for use in performing minimally invasive and natural orifice transluminal endoscopic surgical actions |
| US15/340,699 | 2016-11-01 | ||
| US15/605,864 | 2017-05-25 | ||
| US15/605,864 US9895200B2 (en) | 2014-04-22 | 2017-05-25 | 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/CN2017/086202 WO2018082294A1 (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 |
| CNPCT/CN2017/086202 | 2017-05-26 | ||
| CN201710713638.3A CN107616840B (en) | 2016-11-01 | 2017-08-18 | Surgical system for performing intracorporeal surgical procedures |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710713638.3A Division CN107616840B (en) | 2016-11-01 | 2017-08-18 | Surgical system for performing intracorporeal surgical procedures |
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| CN109567943A CN109567943A (en) | 2019-04-05 |
| CN109567943B true CN109567943B (en) | 2023-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811148472.6A Active CN109567943B (en) | 2016-11-01 | 2017-08-18 | Surgical system for performing intracorporeal surgical procedures |
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| US9895200B2 (en) | 2014-04-22 | 2018-02-20 | Bio-Medical Engineering (HK) Limited | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems |
| US11154368B2 (en) | 2014-04-22 | 2021-10-26 | Bio-Medical Engineering (HK) Limited | Port assembly for use with robotic devices and systems to perform single incision procedures and natural orifice translumenal endoscopic surgical procedures |
| WO2015161677A1 (en) | 2014-04-22 | 2015-10-29 | Bio-Medical Engineering (HK) Limited | Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems |
| US10500008B2 (en) | 2014-04-22 | 2019-12-10 | Bio-Medical Engineering (HK) Limited | Surgical arm system with internally driven gear assemblies |
| US11801099B2 (en) | 2014-04-22 | 2023-10-31 | Bio-Medical Engineering (HK) Limited | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems |
| US11090123B2 (en) | 2014-04-22 | 2021-08-17 | Bio-Medical Engineering (HK) Limited | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems |
| CN110478043B (en) * | 2019-06-28 | 2020-10-02 | 香港生物医学工程有限公司 | Surgical arm system with internally driven gear assembly |
| CN111743643A (en) * | 2020-07-08 | 2020-10-09 | 河海大学常州校区 | Tooth treatment auxiliary device |
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Effective date of registration: 20231116 Address after: Room 3, 14/F, Shiyun Center, 700 Castle Peak Road, Kowloon, Hong Kong, China Patentee after: Intelligent Microinvasive Medicine (Hong Kong) Co.,Ltd. Address before: Room 401-404, building 4, Cyberport 3, Cyberport 100, Cyberport Road, Cyberport,, Hongkong, China Patentee before: BIO-MEDICAL ENGINEERING (HK) LTD. |