CN109567902B - Surgical robotic device and system for performing minimally invasive and transluminal endoscopic surgical actions - Google Patents
Surgical robotic device and system for performing minimally invasive and transluminal endoscopic surgical actions Download PDFInfo
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Abstract
Example embodiments relate to surgical devices, systems, and methods. The system may include an end effector assembly. The end effector assembly may include an instrument assembly and a wrist assembly. The instrument assembly may include an instrument for performing a surgical action. The instrument assembly may further include an instrument driven portion configurable to be driven in such a manner as to move the instrument relative to the first axis. The instrument assembly may further include an instrument isolation portion that may be provided between the instrument and the driven portion of the instrument. The instrument insulating portion may be configurable to electrically isolate the instrument from at least the instrument driven portion when the instrument insulating portion is provided between the instrument and the instrument driven portion. The wrist assembly may include a wrist driven portion that is configurable to be driven in such a manner as to move the instrument relative to the second axis.
Description
The application is a divisional application of an invention patent application with the patent application number 201680003619.5 and the name of 'a surgical robot device and a system for performing minimally invasive and endoscopic surgical actions through a natural orifice of a lumen', wherein the PCT international application PCT/CN2016/104270 filed on 11/1/2016 is entered into China at 12/5/2017.
Technical Field
The present disclosure relates generally to systems, devices, and methods for performing surgical procedures, and more particularly, to surgical robotic systems, devices, and methods for performing surgical actions including, but not limited to, Minimally Invasive Surgery (MIS) and natural orifice endoscopic surgery (NOTES).
Background
Conventionally, surgical procedures performed in a body cavity of a patient (such as the abdominal cavity) require one or more large access incisions to access the patient in order for a surgical team to perform the surgical action. With the development of medical science and technology, such conventional surgical procedures have been largely replaced by Minimally Invasive Surgical (MIS) procedures (and, where applicable, natural orifice endoscopic surgical procedures (NOTES)). Recent developments in computer-assisted and/or robotic surgical techniques have contributed to the development in the MIS and NOTES fields, including the ability to translate a surgeon's desired surgical actions into precise movement of surgical instruments within a 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 into the patient in order to allow the insertion of cameras and various other laparoscopic instruments into the body cavity of the patient through the incisions.
As another example, surgical robotic devices often encounter difficulties during surgery due to insufficient anchoring and/or reaction forces to stabilize against forces expected and/or necessary to be applied during surgical action.
It is also recognized in the present disclosure that surgical robotic systems face the difficulty of providing instruments (such as cutting or grasping instruments attached to a surgical robotic arm) that can access all or even most portions, areas, 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, regions, and quadrants of the patient's abdominal cavity.
In yet another embodiment, known surgical robotic systems typically provide only one to between surgical robotic arms for each access or opening (such as an incision or natural orifice) of a patient. In this regard, inserting a camera and various laparoscopic instruments into the abdominal cavity of a patient would require one or more additional incisions.
The present example embodiments relate generally to systems, devices, and methods for addressing one or more problems in surgical robotic systems, devices, and methods, including those described above and herein.
One aspect of the present invention provides a surgical arm assembly insertable into a cavity of a patient, the surgical arm assembly for performing an in vivo surgical action and comprising: an end effector assembly having: a first instrument assembly having: a first instrument for performing a surgical action; a first instrument driven portion configurable to be driven in such a manner as to move the first instrument relative to a first axis; and a first instrument insulating portion, the first instrument insulating portion being provided between the first instrument and the first instrument driven portion, the first instrument insulating portion being configurable to electrically isolate the first instrument from at least the first instrument driven portion when the first instrument insulating portion is provided between the first instrument and the first instrument driven portion.
In some embodiments, the end effector assembly further comprises a wrist assembly securable to the first instrument assembly, the wrist assembly having a wrist driven portion configurable to be driven in such a manner as to move the first instrument relative to a second axis, the second axis being different from the first axis.
In some embodiments, the surgical arm assembly further comprises an arm assembly secured to the wrist assembly, the arm assembly having: a first instrument drive portion configurable to perform driving of the first instrument driven portion; and a wrist driving section configurable to perform driving of the wrist driven section.
In some embodiments, the surgical arm assembly further comprises a second instrument assembly having: a second instrument for performing a surgical action; a second instrument driven portion configurable to be driven in such a manner as to move the second instrument relative to the first axis; and a second instrument insulating portion, the second instrument insulating portion being provided between the second instrument and the second instrument driven portion, the second instrument insulating portion being configurable to electrically isolate the second instrument from at least the second instrument driven portion when the second instrument insulating portion is provided between the second instrument and the second instrument driven portion; wherein the wrist driven portion is configurable to be driven by the wrist driving portion in such a manner as to move the second instrument relative to the second axis; and wherein the arm assembly further comprises a second instrument drive portion configurable to perform the driving of the second instrument driven portion.
In some embodiments, the first and second instruments are configurable to move independently of each other relative to the first axis.
In some embodiments, the wrist driven portion may be configured to collectively move the first and second instruments relative to the second axis.
In some embodiments, the first axis and the second axis are orthogonal to each other.
In some embodiments, the first instrument comprises an opening operable to receive at least a portion of the first instrument insulating portion; wherein the second instrument comprises an opening operable to receive at least a portion of the second instrument insulating portion; and wherein the first shaft is formed through the center of the openings of the first and second instruments.
In some embodiments, the movement of the first instrument relative to the first axis comprises rotation of the first instrument relative to the first axis; wherein the movement of the second instrument relative to the first axis comprises rotation of the second instrument relative to the first axis; and wherein the movement of the first and second instruments relative to the second shaft is a co-rotation of the first and second instruments relative to the second shaft.
In some embodiments, the first instrument may be configured to further receive a first current applied from an energy source in order to perform the action of the electrosurgical instrument; wherein the first instrument insulating portion is configured to electrically isolate the first current received by the first instrument from the second instrument through the end effector assembly when the first instrument receives the first current.
In some embodiments, the surgical arm assembly is in communication with a user interface; wherein the surgical arm assembly is configurable to provide a haptic feedback response to the user interface when one or more of the following occurs: resistance is encountered by movement of the first instrument and/or movement of the second instrument; resistance is encountered by the first instrument driven portion driving the first instrument and/or the second instrument driven portion driving the second instrument; resistance is encountered by the first instrument driving portion to driving of the first instrument driven portion and/or by the second instrument driving portion to driving of the second instrument driven portion; resistance is encountered by the wrist drive section in driving of the first instrument and/or the wrist drive section in driving of the second instrument; and/or the wrist driving portion encounters resistance to driving of the wrist driven portion.
Another aspect of the invention provides a surgical arm assembly insertable into a cavity of a patient, the surgical arm assembly for performing an in vivo surgical action and comprising: an end effector assembly having: a first instrument assembly having: a first instrument for performing a surgical action; and a first instrument driven portion configurable to be driven in such a manner as to move the first instrument relative to the first axis; and an arm assembly securable to the end effector assembly and releasable from the end effector, the arm assembly having: a first drive portion configurable to perform driving of the driven portion of the first instrument when the arm assembly is secured to the end effector; and a second drive portion configurable to drive a portion of the end effector to move the first instrument relative to a second axis when the arm assembly is secured to the end effector assembly, the second axis being different from the first axis.
In some embodiments, the end effector further comprises a wrist assembly securable to the first instrument arm assembly, the wrist assembly having a wrist driven portion that is a portion of the end effector assembly configurable to be driven by the second drive portion to move the first instrument relative to the second axis; wherein the arm assembly further comprises a wrist connector portion that is a portion of the arm assembly that is configurable to be secured to and released from the end effector assembly; wherein the arm assembly is secured to the end effector assembly when the wrist connector portion is secured to the end effector assembly; and wherein the arm assembly is released from the end effector assembly when the wrist connector portion is released from the end effector assembly.
In some embodiments, the surgical arm assembly further comprises a second instrument assembly having: a second instrument for performing a surgical action; and a second instrument driven portion configurable to be driven in such a manner as to move the second instrument relative to the first axis; wherein the wrist driven portion is configurable to be driven by the second drive portion in such a manner as to move the second instrument relative to the second axis when the wrist connector portion is secured to the wrist assembly; and wherein the arm assembly further comprises a second instrument drive section secured to the wrist connector section, the second instrument drive section configurable to perform driving of the driven section of the second instrument when the wrist connector section is secured to the wrist assembly.
In some embodiments, wherein the first and second instruments are configurable to move independently of each other relative to the first axis.
In some embodiments, the wrist driven portion may be configured to collectively move the first and second instruments relative to the second axis.
In some embodiments, the wrist assembly further comprises a first instrument intermediate drive section provided between the first instrument drive section and the first instrument driven section; wherein the first instrument drive portion is configurable to drive the first instrument driven portion via the first instrument intermediate drive portion; wherein the wrist assembly further comprises a second instrument intermediate drive section provided between the second instrument drive section and the second instrument driven section; and wherein the second instrument drive portion is configurable to drive the second instrument driven portion via the second instrument intermediate drive portion.
In some embodiments, the movement of the first instrument relative to the first axis comprises rotation of the first instrument relative to the first axis; wherein the movement of the second instrument relative to the first axis comprises rotation of the second instrument relative to the first axis; and wherein the movement of the first and second instruments relative to the second shaft is a co-rotation of the first and second instruments relative to the second shaft.
In some embodiments, the first instrument may be configured to further receive a first current applied from an energy source in order to perform the action of the electrosurgical instrument.
In some embodiments, the second instrument may be configured to receive a second current applied from the energy source in order to perform the action of the electrosurgical instrument.
In some embodiments, the surgical arm assembly is in communication with a user interface; wherein the surgical arm assembly is configurable to provide a haptic feedback response to the user interface when one or more of the following occurs: resistance is encountered by movement of the first instrument and/or movement of the second instrument; resistance is encountered by the first instrument driven portion driving the first instrument and/or the second instrument driven portion driving the second instrument; resistance is encountered by the first instrument driving portion to driving of the first instrument driven portion and/or by the second instrument driving portion to driving of the second instrument driven portion; resistance is encountered by the second drive portion in driving of the first instrument and/or the second drive portion in driving of the second instrument; and/or the second drive section encounters resistance to drive of the wrist driven section.
Another aspect of the invention provides a surgical arm assembly insertable into a cavity of a patient, the surgical arm assembly for performing an in vivo surgical action and comprising: an end effector assembly having: a first instrument assembly having: a first instrument for performing a surgical action; and a first instrument driven portion configurable to be driven in such a manner as to move the first instrument relative to the first axis; and a first instrument insulating portion, the first instrument insulating portion being provided between the first instrument and the first instrument driven portion, the first instrument insulating portion being configurable to electrically isolate the first instrument from at least the first instrument driven portion when the first instrument insulating portion is provided between the first instrument and the first instrument driven portion; and a second instrument assembly having: a second instrument for performing a surgical action; a second instrument driven portion configurable to be driven in such a manner as to move the second instrument relative to the first axis; and a second instrument insulating portion, the second instrument insulating portion being provided between the second instrument and the second instrument driven portion, the second instrument insulating portion being configurable to electrically isolate the second instrument from at least the second instrument driven portion when the second instrument insulating portion is provided between the second instrument and the second instrument driven portion; and an arm assembly securable to and releasable from the end effector assembly, the arm assembly having: a first drive portion configurable to perform driving of the driven portion of the first instrument when the arm assembly is secured to the end effector assembly; a second drive portion configurable to perform driving of the driven portion of the second instrument when the arm assembly is secured to the end effector assembly; and a third drive portion configurable to drive a portion of the end effector assembly to collectively move the first and second instruments relative to a second axis when the arm assembly is secured to the end effector assembly, the second axis being different from the first axis.
In some embodiments, the end effector assembly further comprises a wrist assembly having a wrist driven portion, the wrist driven portion being the portion of the end effector assembly that is configurable to be driven by the third drive portion so as to collectively move the first and second instruments relative to the second axis; wherein the arm assembly further comprises a wrist connector portion configurable to be secured to and released from the end effector assembly; wherein the arm assembly is secured to the end effector assembly when the wrist connector portion is secured to the end effector assembly; and wherein the arm assembly is released from the end effector assembly when the wrist connector portion is released from the end effector assembly.
In some embodiments, the first instrument may be configured to further receive a first current applied from an energy source in order to perform the action of the electrosurgical instrument; and wherein when the first instrument receives the first current, the first instrument insulating portion may be configured to electrically isolate the first current received by the first instrument from passing through the end effector assembly to a second instrument.
In some embodiments, the surgical arm assembly is in communication with a user interface; the surgical arm assembly may be configured to provide a haptic feedback response to the user interface when one or more of the following occurs: resistance is encountered by movement of the first instrument and/or movement of the second instrument; resistance is encountered by the first instrument driven portion driving the first instrument and/or the second instrument driven portion driving the second instrument; resistance is encountered by the first instrument driving portion to driving of the first instrument driven portion and/or by the second instrument driving portion to driving of the second instrument driven portion; resistance is encountered by the third drive portion in driving of the first instrument and/or the third drive portion in driving of the second instrument; and the third drive section encounters resistance to drive of the wrist driven section.
Another aspect of the invention provides a surgical system comprising: an end effector assembly having: a first instrument assembly having: a first instrument for performing a surgical action; and a first instrument driven portion configurable to be driven in such a manner as to move the first instrument relative to the first axis; and a user interface configurable to receive a user interaction, the user interaction being an action to be performed by the end effector assembly; and a controller having a processor configurable to: receiving, from the user interface, user interaction information representing user interactions received by the user interface; processing the received user interaction information; and sending one or more commands to the end effector assembly based on the processing, the one or more commands including: commanding the first instrument driven portion to move the first instrument relative to the first axis; wherein the controller is configurable to detect a resistance in motion of at least a portion of the end effector assembly and to communicate a haptic feedback response to the user interface; and wherein the controller is configurable to receive, from the user interface, a user interaction performed on the user interface that represents an action that commands an energy source to apply current to the first instrument to perform an electrosurgical instrument.
In some embodiments, the end effector assembly further comprises a wrist assembly securable to the first instrument assembly, the wrist assembly having a wrist driven portion configurable to be driven in such a manner as to move the first instrument relative to a second axis, the second axis being different from the first axis; and wherein the controller is further configurable to send commands to the wrist driven portion to move the first instrument relative to the second axis based on the processing.
In some embodiments, when the controller receives, from the user interface, the user interaction performed on the user interface representing an action commanding the energy source to apply the current to the first instrument to perform an electrosurgical instrument, the controller may be configured to: sending a command to the energy source that causes the energy source to apply the current to the first instrument.
In some embodiments, the first instrument further comprises a first instrument insulating portion that may be provided between the first instrument and the first instrument driven portion, the first instrument insulating portion being configurable to electrically isolate the first instrument from at least the first instrument driven portion when the first instrument insulating portion is provided between the first instrument and the first instrument driven portion.
In some embodiments, when the controller detects a resistance in the movement of at least a portion of the end effector assembly: determining a portion of the end effector assembly that encounters the resistance force; and providing a haptic feedback response to the user interface based on the determination.
In an exemplary embodiment, a surgical arm assembly is disclosed. The surgical arm assembly may be insertable into a cavity of a patient. The surgical arm assembly may be configurable for performing in vivo and in vitro surgical actions. The surgical arm assembly may include an end effector assembly. The end effector assembly may include a first instrument assembly. The first instrument assembly may include a first instrument for performing a surgical action. The first instrument assembly may further include a first instrument driven portion configurable to be driven in such a manner as to move the first instrument relative to the first axis. The first instrument assembly may further include a first instrument insulating portion that may be provided between the first instrument and the driven portion of the first instrument. The first instrument insulating portion may be configurable to electrically isolate the first instrument from at least the first instrument driven portion when the first instrument insulating portion is provided between the first instrument and the first instrument driven portion.
In another exemplary embodiment, a surgical arm assembly is disclosed. The surgical arm assembly may be insertable into a cavity of a patient. The surgical arm assembly may be used to perform in vivo and in vitro surgical actions. The surgical arm assembly may include an end effector assembly and an arm assembly. The end effector assembly may include a first instrument assembly. The first instrument assembly may include a first instrument for performing a surgical action. The first instrument assembly may further include a first instrument driven portion configurable to be driven in such a manner as to move the first instrument relative to the first axis. The wrist assembly may be securable to the first instrument assembly. The wrist assembly may include a wrist driven portion configurable to be driven in such a manner as to move the first instrument relative to a second axis, the second axis being different from the first axis. The arm assembly may be securable to the wrist assembly and releasable from the wrist assembly. The arm assembly may include a wrist connector portion configurable to be secured to and released from the wrist assembly. The arm assembly may further include a first instrument drive portion secured to the wrist connector portion. The first instrument drive section may be configurable to perform driving of the driven portion of the first instrument while the wrist connector section is secured to the wrist assembly. The arm assembly may further comprise a wrist drive portion secured to the wrist connector portion.
In another exemplary embodiment, a surgical arm assembly is disclosed. The surgical arm assembly may be insertable into a cavity of a patient. The surgical arm assembly may be used to perform in vivo and in vitro surgical actions. The surgical arm assembly may include an end effector assembly and an arm assembly. The end effector assembly may include a first instrument assembly and a second instrument assembly. The first instrument assembly may include a first instrument for performing a surgical action. The first instrument assembly may further include a first instrument driven portion configurable to be driven in such a manner as to move the first instrument relative to the first axis. The first instrument assembly may further include a first instrument insulating portion that may be provided between the first instrument and the driven portion of the first instrument. The first instrument insulating portion may be configurable to electrically isolate the first instrument from at least the first instrument driven portion when the first instrument insulating portion is provided between the first instrument and the first instrument driven portion. The second instrument assembly may include a second instrument for performing a surgical action. The second instrument assembly may further include a second instrument driven portion configurable to be driven in such a manner as to move the second instrument relative to the first axis. The second instrument assembly may further include a second instrument insulating portion that may be provided between the second instrument and the driven portion of the second instrument. The second instrument insulating portion may be configurable to electrically isolate the second instrument from at least the second instrument driven portion when the second instrument insulating portion is provided between the second instrument and the second instrument driven portion. The arm assembly may be securable to and releasable from the end effector assembly. The arm assembly may include a wrist connector portion that is configurable to be secured to and released from the end effector assembly. The arm assembly may further include a first instrument drive portion secured to the wrist connector portion. The first instrument drive portion may be configurable to perform driving of the driven portion of the first instrument when the wrist connector portion is secured to the end effector assembly. The arm assembly may further include a second instrument drive portion secured to the wrist connector portion. The second instrument drive portion may be configurable to perform driving of the driven portion of the second instrument when the wrist connector portion is secured to the end effector assembly. The arm assembly may further comprise a wrist drive portion secured to the wrist connector portion. The wrist drive section may be configurable to perform driving of the end effector assembly in such a manner as to collectively move the first and second instruments relative to the second axis when the wrist connector section is secured to the wrist assembly.
In another exemplary embodiment, a surgical system is disclosed. The surgical system may include an end effector assembly, a user interface, and a controller. The end effector assembly may include a first instrument assembly. The first instrument assembly may include a first instrument for performing a surgical action. The first instrument assembly may further include a first instrument driven portion configurable to be driven in such a manner as to move the first instrument relative to the first axis. The user interface may be configurable to receive user interactions that are actions to be performed by the surgical arm assembly. The controller may be or may include a processor configurable to receive user interaction information from the user interface indicative of user interactions performed on the user interface. The controller may be or may include a process configurable to process received user interaction information. The controller may be or may include a process that sends one or more commands to the surgical arm assembly based on the process. The one or more commands may include commanding the first instrument driving portion to drive the first instrument driven portion in such a manner as to move the first instrument relative to the first shaft in a first direction. The controller may be configurable to detect a resistance in the motion of at least a portion of the end effector assembly and to communicate a haptic feedback response to the user interface. The controller may be configurable to receive, from the user interface, a user interaction performed on the user interface that is indicative of commanding the energy source to apply a current to the first instrument to perform an action of the electrosurgical instrument.
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. 1 is an illustration of a perspective view of an example embodiment of a surgical system;
FIG. 2 is an illustration of a perspective view of another example embodiment of a surgical system;
FIG. 3A is an illustration of a side view of an exemplary embodiment of a surgical arm assembly;
FIG. 3B is an illustration of a cross-sectional view of an example embodiment of a surgical arm assembly;
FIG. 4A is an illustration of a side view of an exemplary embodiment of a surgical arm assembly;
FIG. 4B is an illustration of a cross-sectional view of an example embodiment of a surgical arm assembly;
FIG. 5 is an illustration of a perspective view of an example embodiment of an end effector assembly;
FIG. 6 is an illustration of a cross-sectional view of an example embodiment of an end effector assembly;
FIG. 7 is an illustration of a perspective view of an example embodiment of a first or second instrument and a first or second instrument insulating portion;
FIG. 8A is an illustration of a perspective view of an exemplary embodiment of an end effector assembly in the form of a grasper;
FIG. 8B is an illustration of a perspective view of an example embodiment of an end effector assembly in the form of scissors;
FIG. 8C is an illustration of a perspective view of an exemplary embodiment of an end effector assembly in the form of a grasper;
fig. 9A is an illustration of a top view of an example embodiment of a surgical system; and
fig. 9B is an illustration of a top view of another example embodiment of a surgical system.
While, for purposes of convenience, like reference numerals may be used to refer to like elements in the figures, it is to be appreciated that each of the various exemplary embodiments may be considered a different variation.
Example embodiments will now be described with reference to the accompanying drawings, which form a part of the disclosure 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, but they may refer to a single embodiment, and the various example embodiments may be readily combined and/or interchanged without departing from the scope or spirit of the example embodiments. Furthermore, the terminology as used in the present disclosure and the appended claims is for the purpose of describing example embodiments only and is not intended to be limiting. In this regard, as used in this disclosure and the appended claims, the term "in … …" may include "in … …" and "on … …," and the terms "a, an" and "the" may include both singular and plural references. Furthermore, as used in this disclosure and the appended claims, the term "by" may also mean "from," depending on the context. Furthermore, as used in this disclosure and the appended claims, the term "if" may also mean "when … …" or "when … …", depending on the context. Furthermore, as used in this disclosure and the appended claims, the word "and/or" may refer to and encompass any and all possible combinations of one or more of the associated listed items.
Detailed Description
Despite recent advances in medical science and technology, problems continue to exist in modern surgical techniques and methods, including those related to MIS and NOTES.
For example, a typical MIS procedure will generally require the surgeon to perform multiple incisions in order to enable the surgeon to insert the required laparoscopic instruments into the body cavity of the patient via such incisions. Furthermore, it is recognized herein that significant technical challenges encountered when using surgical robotic systems are related to the difficulty of establishing anchoring and/or reaction forces sufficient to counteract the forces applied within the body cavity of the patient and/or stabilize against those forces during surgical actions required by the surgical robotic system. In this regard, performing certain surgical actions using known systems may require significant effort and time, and may eventually be performed improperly or not at all due to such insufficient anchoring and/or reaction forces. Furthermore, surgeons using known surgical systems often encounter problems with utilizing instruments (such as cutting and/or grasping instruments attached to the end of a surgical robotic arm) in certain portions, areas, and quadrants of a patient's body cavity (such as the abdomen) after the system has been set up (or anchored) and is ready to perform a surgical procedure. That is, after the surgical robotic arm of the system has been inserted and properly set in the abdominal cavity of the patient, the surgical instruments attached to the end of the surgical robotic arm are typically mechanically limited to accessing only certain portions, areas, and quadrants of the abdominal cavity of the patient.
As another example, known surgical robotic systems typically provide only one to between surgical robotic arms for each access or opening (such as an incision or natural orifice) of a patient. In this regard, when additional laparoscopic instruments (such as another surgical robotic arm, a pipette, and/or a camera) need to be inserted into the abdominal cavity of a patient, one or more incisions (cuts) need to be performed on the patient. For such incisions, surgical teams also typically encounter difficulties in properly inserting and removing the surgical robotic system (such as a surgical robotic arm) into and out of the body cavity. In particular, because surgical robotic arms typically have at least one joint and two arm segments, insertion (and removal) of the surgical robotic arm into (and out of) a body cavity often causes a portion of the surgical robotic arm (such as an end attached to an instrument (such as a cutting tool)) to contact and damage patient tissue. This problem is compounded when a surgical procedure or system attempts to utilize more than one surgical robotic arm through a single port.
Known surgical robotic systems also often face issues with respect to heating one or more components during a surgical action, such as heating laparoscopic optics (such as a camera), lighting elements, and other components. It is recognized in the present disclosure that elevated temperatures of such components may subject patient tissue in contact with such components to intraoperative and/or postoperative injury or complications. Laparoscopic optics (such as the lens of a camera) and/or illumination elements in known surgical systems also tend to encounter contamination and/or partial or complete blockage during surgery due to fogging, tissue debris, liquids (such as blood), and/or other particles that accumulate before, during, and/or after insertion of such components into a body cavity. In this regard, visibility within the body cavity via such laparoscopic optics and illumination elements may thus become reduced, degraded, or even completely blocked.
Recent technological developments have introduced solutions to the aforementioned problems. U.S. patent application No.14/693,207 to Yeung et al ("us' 207"), which is incorporated herein by reference in its entirety, describes a surgical robotic device, system, and method for addressing the above-mentioned problems. For example, U.S. Pat. No.' 207 teaches a surgical system having a port assembly for providing an anchoring and/or reaction force sufficient to oppose the force applied by a surgical arm of the surgical system during a surgical action. The surgical system of us' 207 enables a surgeon to not only perform a single small incision on a patient, but also enables the surgeon to utilize one or more laparoscopic instruments (including surgical robotic arms, suction tubes, and/or camera arms) in the abdominal cavity of the patient through such a single small incision (via a port assembly). Us' 207 further teaches a surgical arm that is configurable to provide 7 in-vivo degrees of freedom, thereby enabling surgical instruments attached to the surgical arm to access all portions, regions, and quadrants of a body cavity. The combined design of the port assembly, the surgical robotic arm, and the attachment portion for attaching the surgical robotic arm to the port assembly further enables easy and controlled insertion and removal of the surgical robotic arm so as to prevent inadvertent contact with and damage to patient tissue.
In addition to the above-described problems encountered with known surgical systems during forward-guided surgery (e.g., MIS performed in the abdominal cavity of a patient), known surgical systems typically encounter additional problems when 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. For example, such known systems generally suffer from problems associated with, among other things, the inability to access certain organs, tissues or other surgical sites when inserted into a natural orifice due to the inherent forward-oriented design of such systems.
Recent technological developments have introduced solutions to the aforementioned problems. For example, U.S. patent application No.15/044,889 ("US '889") to Yeung and U.S. patent application No.15/044,895 ("US' 895") to Yeung, both of which are incorporated herein by reference in their entirety, describe surgical systems that may be configured for performing forward-guided and/or reverse-guided surgical actions.
Surgical systems, devices, and methods (including those used in MIS and NOTES) are described in this disclosure. It is to be understood in this disclosure that the principles described herein may be applied outside of the context of MIS and/or NOTES, such as performing scientific experiments and/or procedures in environments not readily accessible to humans (including in vacuum, in outer space, and/or in toxic and/or hazardous conditions), without departing from the teachings of the present disclosure.
Surgical systems (e.g., surgical systems 100, 200)
Fig. 1 illustrates an example embodiment of a surgical device or surgical system (e.g., surgical device or surgical system 100) that may be configured to perform, among other things, a forward-guided surgical procedure. The surgical system 100 may be configurable to be inserted into the abdominal cavity of a patient via a single passageway or opening (e.g., a single incision, such as an incision in or around the umbilical region) or via the patient's natural orifice, such as the rectum or vagina, for performing a natural orifice endoscopic surgical procedure (or NOTES), hereinafter referred to as an "opening"). The surgical system 100 may be anchored to position the surgical system 100 in an opening (e.g., a single incision) of a patient. Surgical system 100 may include a port assembly 110 and a surgical arm assembly 130. The surgical system 100 may also include other laparoscopic elements, including but not limited to one or more other surgical arm assemblies, one or more image capturing assemblies, one or more accessory arm assemblies, one or more suction tubes, and the like. Although fig. 1 illustrates a surgical system 100 having one surgical arm assembly 130 and one camera arm assembly 120, it is understood in this disclosure that example embodiments may include one or more laparoscopic instruments, including but not limited to one or more surgical arm assemblies, one or more camera arm assemblies, one or more accessory arm assemblies, and/or one or more suction tubes, without departing from the teachings of this disclosure.
Fig. 2 illustrates an example embodiment of another surgical device or surgical system (e.g., a surgical device or surgical system 200) that may be configured for performing, among other things, a reverse-guided surgical procedure. The surgical system 200 may be configurable to be inserted into an opening of a patient. While fig. 1 illustrates one surgical arm assembly and one camera arm assembly, it is understood in this disclosure that example embodiments may (or may not) include one or more laparoscopic instruments, including one or more surgical arm assemblies, one or more camera arm assemblies, one or more accessory arm assemblies, and/or one or more suction tubes. The surgical system 200 may be anchored to position the surgical system 200 in an opening (e.g., a natural orifice) of a patient. Surgical system 200 may include a port assembly 210 and a surgical arm assembly 230. Surgical system 200 may also include other laparoscopic elements, including, but not limited to, one or more other surgical arm assemblies, one or more image capture assemblies, one or more accessory arm assemblies (e.g., accessory arm assemblies 250, 260), one or more suction tubes, and the like. Although fig. 2 illustrates a surgical system 200 having one surgical arm assembly 230, one camera arm assembly 220, and two accessory arm assemblies 250, 260, it is understood in this disclosure that example embodiments may include one or more laparoscopic instruments, including but not limited to one or more surgical arm assemblies, one or more camera arm assemblies, one or more accessory arm assemblies, and/or one or more suction tubes, without departing from the teachings of this disclosure.
Surgical arm assembly (e.g., surgical arm assembly 13)0)
In an example embodiment, the surgical device 100, 200 may include one or more surgical arm assemblies, including a first surgical arm assembly (e.g., surgical arm assembly 130, 230), a second surgical arm assembly (not shown), a third surgical arm assembly (not shown), a fourth surgical arm assembly (not shown), and so forth. Each surgical arm assembly may be configurable to be secured to port assembly 210 and to be released from port assembly 210.
One or more of the surgical arm assemblies (e.g., surgical arm assemblies 130, 230) can include a plurality of surgical arm segments in a configurable serial (or linear) arrangement, including an arm assembly (e.g., arm assembly 131, 231), a joint portion, and at least one end effector assembly (e.g., end effector assembly 140, 240). For example, as shown in the cross-sectional views shown in fig. 3A and 4A and fig. 3B and 4B, a surgical arm assembly (e.g., surgical arm assembly 130, 230) can include an arm assembly (e.g., arm assembly 131, 231) and an end effector assembly (e.g., end effector assembly 140, 240). One or more of the surgical arm assemblies (e.g., surgical arm assemblies 130, 230) may include an integrated haptic and/or force feedback subsystem (not shown) that may be configured to provide haptic feedback responses to a user interface (e.g., a user interface for use by a surgeon or an assistant), and such haptic feedback responses may first be processed by a controller (not shown). Example embodiments of such user interfaces (e.g., user interface 910) are illustrated in fig. 9A and 9B. The one or more surgical arm assemblies (e.g., surgical arm assemblies 130, 230) may also be configurable to provide one or more of a plurality of feedback responses and/or measurements to a controller and/or user interface (e.g., user interface 910), including those relating to positions (including orientations), applied forces, proximity, temperature, pressure, humidity, etc., that are all, imparted to, and/or proximate to the surgical arm assemblies (e.g., surgical arm assemblies 130, 230). In addition to haptic feedback responses, the controller may be further configurable to translate, replicate, map and/or sense fine movements of an operator using the user interface (e.g., user interface 910) into movements of the surgical arm assembly (e.g., surgical arm assembly 130, 230), with high precision, high dexterity and minimal burden, among other things.
One or more of the surgical arm assemblies (e.g., surgical arm assemblies 130, 230) may also be configurable to receive electrical current (or voltage potential, thermal energy, heat, cold temperature application, etc.) from an energy source (or other source, not shown). In an example embodiment, such energy sources (or other sources) may also be partially or entirely integrated into one or more of the surgical arm assemblies (e.g., surgical arm assemblies 130, 230). Current (or voltage potential, thermal energy, heat or cold temperature application) from an energy source (or other sources) may be selectively applied to one or more elements of an end effector assembly (e.g., end effector assembly 140, 240), and such selective application of current (or voltage potential, thermal energy, heat or cold temperature application, etc.) may be configured and/or controlled by a user interface (e.g., via a controller). For example, where the end effector assembly (e.g., end effector assembly 140, 240) includes a first instrument (e.g., first instrument 142, 242) and a second instrument (e.g., second instrument 144, 244), an operator of the user interface (e.g., user interface 910) may configure the user interface (e.g., user interface 910) to command the energy source (or other source), e.g., via the controller, to apply a current (or voltage potential, thermal energy, heat or cold temperature application, etc.) to the first instrument (e.g., first instrument 142, 242). It is recognized in the present disclosure that applying such a current (or voltage potential, thermal energy, heat or cold temperature application, etc.) to a first instrument (e.g., first instrument 142, 242) alone or in conjunction with a second instrument (e.g., second instrument 144, 244) enables the end effector assembly (e.g., end effector assembly 140, 240) to perform the motions of the electrosurgical instrument, etc.
These and other elements and example embodiments of the surgical system and surgical arm assembly (e.g., surgical arm assembly 130, 230) will now be further described with reference to the accompanying drawings.
Example embodiments of a surgical arm Assembly
As shown in fig. 3A-B and 4A-B, an example embodiment of a surgical arm assembly (e.g., surgical arm assembly 130, 230) may include an arm assembly (e.g., arm assembly 131, 231) and an end effector assembly (e.g., end effector assembly 140, 240).
Arm component (e.g., arm component 131, 231)
In an example embodiment, as shown in fig. 1 and 2, an arm assembly (e.g., arm assembly 131, 231) may be secured to a surgical arm assembly (e.g., arm segment 139a, 239a) via a joint. Such other portion of the surgical arm assembly (e.g., arm segment 139a, 239a) may itself be connected to another portion of the surgical arm assembly (e.g., shoulder segment 139b, 239b), which in turn may be connected to a port assembly (e.g., port assembly 110, 210).
The arm assembly (e.g., arm assembly 131, 231) may include a first instrument drive portion (e.g., first instrument drive portion 132, 232). The arm assembly (e.g., arm assembly 132, 232) may further include a second instrument drive portion (e.g., second instrument drive portion 134, 234). While the figures illustrate an arm assembly having a first instrument drive portion and a second instrument drive portion, it is understood in this disclosure that the arm assembly may have more other instrument drive portions or may have only a first instrument drive portion or a second instrument drive portion without departing from the teachings of this disclosure. The arm assembly (e.g., arm assembly 131, 231) may also include a wrist drive section (e.g., wrist drive section 136, 236). The arm assembly (e.g., arm assembly 131, 231) may further include a wrist connector portion (e.g., wrist connector portion 138, 238).
(i) First instrument drive portion (e.g., first instrument drive portion 131, 231)
The first instrument drive portion (e.g., first instrument drive portion 131, 231) can be any mechanism, device, etc. that can be configured to drive (e.g., move) a first instrument driven portion (e.g., first instrument driven portion 142a, 242a as described further below and in this disclosure) of an end effector assembly (e.g., end effector assembly 140, 240). For example, the first instrument drive portion (e.g., first instrument drive portion 132, 232) may include any one or more configurations or combinations 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 wires and pulleys) without departing from the teachings of the present disclosure. While the figures illustrate an arm assembly having one first instrument drive portion, it is understood in this disclosure that the arm assembly may have more than one first instrument drive portion (e.g., when the end effector assembly includes more than one first instrument driven portion) without departing from the teachings of this disclosure.
(ii) Second instrument drive portion (e.g., first instrument drive portion 134, 234)
The second instrument drive portion (e.g., second instrument drive portion 134, 234) can be any mechanism, device, etc., that can be configured to drive (e.g., move) a second instrument driven portion (e.g., second instrument driven portion 144a, 244a as described further below and in this disclosure). For example, the second instrument drive portion (e.g., second instrument drive portion 134, 234) may include any one or more configurations or combinations of gears and/or gear assemblies, including spur gear configurations, planetary gear configurations, bevel gear configurations, helical bevel gear configurations, hypoid gear configurations, helical gear configurations, worm gear configurations, and/or any other gear and/or mechanical configurations (such as wires and pulleys) without departing from the teachings of the present disclosure. While the figures illustrate an arm assembly having one second instrument driving portion, it is understood in this disclosure that the arm assembly may have more than one second instrument driving portion (e.g., when the end effector assembly includes more than one second instrument driven portion) without departing from the teachings of this disclosure.
(iii) Wrist driving part (e.g. wrist driving parts 136, 236)
The wrist drive section (e.g., wrist drive section 136, 236) may be any mechanism, device, etc., that may be configured to drive (e.g., move) a wrist driven section (e.g., wrist driven section 146a, 246a as described below and further in this disclosure). For example, a wrist drive section (e.g., wrist drive sections 136, 236) may include any one or more or a combination of gear 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 wires and pulleys) without departing from the teachings of the present disclosure. Although the figures illustrate an arm assembly having one wrist drive section, it is understood in this disclosure that an arm assembly may have more than one wrist drive section without departing from the teachings of this disclosure.
In an example embodiment, the first instrument drive portion (e.g., first instrument drive portion 132, 232) and the second instrument drive portion (e.g., second instrument drive portion 134, 234) may be selectively driven independently of one another. In an example embodiment, the first instrument drive portion (e.g., first instrument drive portion 132, 232) and the second instrument drive portion (e.g., second instrument drive portion 134, 234) may be selectively driven in a similar or identical manner, such as being driven simultaneously, being driven for the same duration, and/or being driven at the same output energy, torque, and/or revolutions per minute (rpm).
The wrist connector portion (e.g., wrist connector portions 138, 238) may be any connector portion for securing to and releasing from a wrist assembly (e.g., a wrist assembly including a wrist driven portion (e.g., wrist driven portions 146a, 146b) as described further below and in this disclosure). In other words, the wrist connector portions (e.g., wrist connector portions 138, 238) may be configured to be secured to and released from end effector assemblies (e.g., end effector assemblies 140, 240), respectively. Thus, the end effector assembly (e.g., end effector assembly 140, 240) may be detached/released from the arm assembly (e.g., arm assembly 131, 231) when not needed and attached/secured to the arm assembly (e.g., arm assembly 131, 231) when needed to perform a surgical action.
End effector assembly (e.g., end effector assembly 140, 240)
As shown in at least fig. 3A, 3B, 4A, 4B, 5-7, and 8A-8C, an example embodiment of an end effector assembly (e.g., end effector assembly 140, 240) may include a first instrument assembly. The end effector assembly (e.g., end effector assembly 140, 240) may also include a second instrument assembly. While the figures illustrate an end effector assembly having a first instrument and a second instrument, it is understood in this disclosure that the end effector assembly may have more other instruments or may have only a first or second instrument without departing from the teachings of this disclosure. The end effector assembly (e.g., end effector assembly 140, 240) may also include a wrist assembly.
(i) First instrument assembly
Example embodiments of the first instrument assembly may include a first instrument (e.g., first instrument 142, 242) for performing a surgical action. The first instrument (e.g., first instrument 142, 242) may be any surgical instrument without departing from the teachings of the present disclosure.
In an example embodiment, a first instrument (e.g., first instrument 142, 242) 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 electrical 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 include a first instrument driven portion (e.g., first instrument driven portion 142a, 242 a). The first instrument driven portion (e.g., first instrument driven portion 142a, 242a) may be configured to be driven by a first instrument driving portion (e.g., first instrument driving portion 132, 232) of an arm assembly (e.g., arm assembly 131, 231). The first instrument driven portion (e.g., first instrument driven portion 142a, 242a) may be driven by the first instrument driving portion (e.g., first instrument driving portion 132, 232) in such a manner as to move the first instrument (e.g., first instrument 142, 242). For example, a first instrument driven portion (e.g., first instrument driven portion 142a, 242a) may be driven to move a first instrument (e.g., first instrument 142, 242) relative to a first axis (e.g., axis a as shown in fig. 4A, 4B, 5-7, and 8A-8C). In this regard, such movement of the first instrument (e.g., first instrument 142, 242) may be rotation of a distal end of the first instrument (e.g., first instrument 142, 242) relative to a proximal end of the first instrument (e.g., first instrument 142, 242), and such proximal end may serve as a pivot for such movement.
The first instrument driven portion (e.g., first instrument driven portion 142a, 242a) may be any mechanism, device, etc. that may be configured to be driven by the first instrument driving portion (e.g., first instrument driving portion 132, 232). For example, the first instrument driven portion (e.g., first instrument driven portion 142a, 242a) may include gears and/or gear assemblies in any one or more configurations or combinations, including spur gear configurations, planetary gear configurations, bevel gear configurations, helical bevel gear configurations, hypoid gear configurations, helical gear configurations, worm gear configurations, and/or any other gear and/or mechanical configurations (such as wires and pulleys) without departing from the teachings of the present disclosure. While the figures illustrate an end effector assembly having one first instrument driven portion, it is understood in this disclosure that an end effector assembly may have more than one first instrument driven portion without departing from the teachings of this disclosure.
In example embodiments where the end effector assembly (e.g., end effector assembly 140, 240) is detachable (i.e., releasable) from the arm assembly (e.g., arm assembly 131, 231), it is to be understood that the first instrument driving portion (e.g., first instrument driving portion 132, 232) of the arm assembly (e.g., arm assembly 131, 231) may be operable to drive the first instrument driven portion (e.g., first instrument driven portion 142a, 242a) when the end effector assembly (e.g., end effector assembly 140, 240) is secured (i.e., attached) to the arm assembly (e.g., arm assembly 131, 231). In particular, a first instrument drive portion (e.g., first instrument drive portion 132, 232) of an arm assembly (e.g., arm assembly 131, 231) may be operable to drive a first instrument driven portion (e.g., first instrument driven portion 142a, 242a) when a wrist connector portion (e.g., wrist connector portion 136, 236) is secured (i.e., attached) to a wrist assembly (described below and further in this disclosure) of an end effector assembly, and more particularly, a connector (e.g., connector 148, 248) of an end effector assembly (e.g., end effector assembly 140, 240).
In example embodiments where the end effector assembly (e.g., end effector assembly 140, 240) is detachable (i.e., releasable) from the arm assembly (e.g., arm assembly 131, 231), it is to be understood that one or more connectable and disconnectable wires, cables, etc. may be provided to enable a first instrument (e.g., first instrument 142, 242) to receive electrical current from an energy source to perform an action of the electrosurgical instrument.
The first instrument assembly may include a first instrument insulating portion (e.g., first instrument insulating portion 142b, 242 b). A first instrument insulating portion (e.g., first instrument insulating portion 142b, 242b) may be provided between the first instrument (e.g., first instrument 142, 242) and one or more portions of the end effector assembly (e.g., end effector assembly 140, 240) in order to electrically isolate (or electrically insulate, thermally insulate, etc.) the first instrument (e.g., first instrument 142, 242) from the one or more portions of the end effector assembly (e.g., end effector assembly 140, 240). In example embodiments, a first instrument insulating portion (e.g., first instrument insulating portion 142b, 242b) may be provided between the first instrument (e.g., first instrument 142, 242) and the first instrument driven portion (e.g., first instrument driven portion 142a, 242a) to electrically isolate (or electrically insulate, thermally isolate, thermally insulate, etc.) the first instrument (e.g., first instrument 142, 242) from the first instrument driven portion (e.g., first instrument driven portion 142a, 242 a). 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 the first instrument driven portion (e.g., the first instrument driven portion 142a, 242a) and/or other components/portions of the surgical arm assembly by passing into the second instrument (e.g., the second instrument 144, 214).
The first instrument insulating portion (e.g., first instrument insulating portion 142b, 242b) may be formed using 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 first instrument (e.g., first instrument 142, 242) may be formed using one or more of a variety of materials, such as surgical grade metals, high strength aluminum alloys, stainless steels (such as 304/304L, 316/316L, and 420), pure titanium, titanium alloys (such as Ti6a14V, NiTi), cobalt chrome alloys, and magnesium alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. Further, the first instrument (e.g., first instrument 142, 242) may include an opening or the like for receiving and housing at least a portion of the first instrument insulating portion (e.g., first instrument insulating portion 142b, 242 b). In an example embodiment, the first shaft (e.g., shaft a) may be formed through the center of the opening of the first instrument (e.g., first instrument 142, 242). Although the opening may be depicted in the figures as being circular in shape and the corresponding outer portion of the first instrument insulating portion (e.g., first instrument insulating portion 142b, 242b) received in the opening may be depicted in the figures as being circular in shape, it is understood in this disclosure that the opening and such corresponding outer portion may be formed into one or more other shapes, including but not limited to square, rectangular, oval, pentagonal, hexagonal, etc., without departing from the teachings of this disclosure.
(ii) Second instrument assembly
Example embodiments of the second instrument assembly may include a second instrument (e.g., second instrument 144, 244) for performing a surgical action. The second instrument (e.g., second instrument 144, 244) may be any surgical instrument without departing from the teachings of the present disclosure.
In an example embodiment, a second instrument (e.g., second instrument 144, 244) may be configurable to receive an electrical current (e.g., a second electrical current) applied from a second energy source (not shown) in order to perform the action of the electrosurgical instrument. Although 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 include a second instrument driven portion (e.g., second instrument driven portion 144a, 244 a). The second instrument driven portion (e.g., second instrument driven portion 144a, 244a) may be configured to be driven by a second instrument driving portion (e.g., second instrument driving portion 134, 234) of the arm assembly (e.g., arm assembly 131, 231). The second instrument driven portion (e.g., second instrument driven portion 144a, 244a) may be driven by the second instrument driving portion (e.g., second instrument driving portion 134, 234) in such a manner as to move the second instrument (e.g., second instrument 144, 244). For example, the second instrument driven portion (e.g., second instrument driven portion 144A, 244A) can be driven to move the second instrument (e.g., second instrument 144, 244) relative to the first axis (e.g., axis a as shown in fig. 4A, 4B, 5-7, and 8A-8C). In this regard, such movement of the second instrument (e.g., second instrument 144, 244) may be rotation of a distal end of the second instrument (e.g., second instrument 144, 244) relative to a proximal end of the second instrument (e.g., second instrument 144, 244), and such proximal end may serve as a pivot for such movement.
The second instrument driven portion (e.g., second instrument driven portion 144a, 244a) may be any mechanism, device, etc. that is configurable to be driven by the second instrument driving portion (e.g., second instrument driving portion 134, 234). For example, the second instrument driven portion (e.g., second instrument driven portion 144a, 244a) may include gears and/or gear assemblies in any one or more configurations or combinations, including spur gear configurations, planetary gear configurations, bevel gear configurations, helical bevel gear configurations, hypoid gear configurations, helical gear configurations, worm gear configurations, and/or any other gear and/or mechanical configurations (such as wires and pulleys) 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 where the end effector assembly (e.g., end effector assembly 140, 240) is detachable (i.e., releasable) from the arm assembly (e.g., arm assembly 131, 231), it is to be understood that the second instrument driving portion (e.g., second instrument driving portion 134, 234) of the arm assembly (e.g., arm assembly 131, 231) may be operable to drive the second instrument driven portion (e.g., second instrument driven portion 144a, 244a) when the end effector assembly (e.g., end effector assembly 140, 240) is secured (i.e., attached) to the arm assembly (e.g., arm assembly 131, 231). In particular, a second instrument drive portion (e.g., second instrument drive portion 134, 234) of an arm assembly (e.g., arm assembly 131, 231) may be operable to drive a second instrument driven portion (e.g., second instrument driven portion 144a, 244a) when the wrist connector portion (e.g., wrist connector portion 136, 236) is secured (i.e., attached) to a wrist assembly (described further below and in this disclosure) of an end effector assembly, and more particularly, a connector (e.g., connector 148, 248) of an end effector assembly (e.g., end effector assembly 140, 240).
In example embodiments where the end effector assembly (e.g., end effector assembly 140, 240) is detachable (i.e., releasable) from the arm assembly (e.g., arm assembly 131, 231), it is to be understood that one or more connectable and disconnectable wires, cables, etc. may be provided to enable a second instrument (e.g., second instrument 144, 244) to receive electrical current from the energy source to perform the action of the electrosurgical instrument.
The second instrument assembly may include a second instrument insulating portion (e.g., second instrument insulating portions 144b, 244 b). A second instrument insulating portion (e.g., second instrument insulating portion 144b, 244b) may be provided between the second instrument (e.g., second instrument 144, 244) and one or more portions of the end effector assembly (e.g., end effector assembly 140, 240) in order to electrically isolate (or electrically insulate, thermally insulate, etc.) the second instrument (e.g., second instrument 144, 244) from the one or more portions of the end effector assembly (e.g., end effector assembly 140, 240). In an example embodiment, a second instrument insulating portion (e.g., second instrument insulating portion 144b, 244b) may be provided between the second instrument (e.g., second instrument 144, 244) and the second instrument driven portion (e.g., second instrument driven portion 144a, 244a) to electrically isolate (or electrically insulate, thermally isolate, thermally insulate, etc.) the second instrument (e.g., second instrument 144, 244) from the second instrument driven portion (e.g., second instrument driven portion 144a, 244 a). Such electrical isolation (or electrical insulation, thermal isolation, thermal insulation, etc.) may be desirable for protecting electrically (or thermally) sensitive components/portions of the surgical arm assembly and/or also preventing such electrical current (or voltage potential, thermal energy, heat, cold temperature application, radiation, etc.) from undesirably passing through the second instrument driven portion (e.g., the second instrument driven portion 144a, 244a) and/or other components/portions of the surgical arm assembly by transmission to the first instrument (e.g., the first instrument 142, 242).
The second instrument insulating portion (e.g., second instrument insulating portions 144b, 244b) may be formed using 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 (e.g., second instrument 144, 244) may be formed using one or more of a variety of materials, such as surgical grade metals, high strength aluminum alloys, stainless steels (such as 304/304L, 316/316L, and 420), pure titanium, titanium alloys (such as Ti6a14V, NiTi), cobalt chrome alloys, and magnesium alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure. Further, a second instrument (e.g., second instrument 144, 244) can include an opening or the like for receiving and housing at least a portion of a second instrument insulating portion (e.g., second instrument insulating portion 144b, 244b as shown in at least fig. 5-7 and 8A-8C). In an example embodiment, the first shaft (e.g., shaft a) may be formed through the center of the opening of the second instrument (e.g., second instrument 144, 244). 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 (e.g., second instrument insulating portion 144b, 244b) 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 142, 242) and a second instrument (e.g., second instrument 144, 244) may be selectively moved/driven independently of one another. In an example embodiment, the first instrument (e.g., first instrument 142, 242) and the second instrument (e.g., second instrument 144, 244) may be selectively moved/driven in a similar or identical manner, such as may be moved/driven simultaneously, may be moved/driven for the same duration, and/or may be moved/driven 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, as shown in fig. 8A, a first instrument (e.g., first instrument 142, 242) and a second instrument (e.g., second instrument 144, 244) may cooperate to form a grasper. As another example, as shown in fig. 8B, a first instrument (e.g., first instrument 142, 242) and a second instrument (e.g., second instrument 144, 244) may cooperate to form a scissors. As another example, as shown in fig. 8C, a first instrument (e.g., first instrument 142, 242) and a second instrument (e.g., second instrument 144, 244) may cooperate to form a Maryland gripper. Other forms and types of first and/or second instruments are contemplated in the present disclosure in addition to or in lieu of the first and/or second instruments described above without departing from the teachings of the present disclosure.
For example, as described above, a first instrument (e.g., first instrument 142, 242) 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, a second instrument (e.g., second instrument 144, 244) 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 magnitude but opposite direction as the second current, and in example embodiments, the first energy source may be the same or different from the second energy source. In such embodiments where the first and second instruments cooperate together to form a monopolar electrosurgical instrument or the like, when a mass (e.g., a tissue mass) is provided between the first (e.g., first 142, 242) and second (e.g., second 144, 244) instruments and an electrical current is applied to the first (e.g., first 142, 242) or second (e.g., second 144, 244) instruments, the mass will serve to pass the applied electrical current and assist in cutting, coagulating, drying, and/or fulgurating the mass. Similarly, in embodiments where the first and second instruments cooperate together to form a bipolar electrosurgical instrument or the like, when a mass (e.g., a tissue mass) is provided between the first (e.g., first 142, 242) and second (e.g., second 144, 244) instruments and an electrical current is applied to the first (e.g., first 142, 242) and second (e.g., second 144, 244) instruments, the mass will serve to pass the applied electrical current 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 configurable 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 secured or secured to the first instrument assembly. The wrist assembly may include a wrist driven portion (e.g., wrist driven portions 146a, 246 a). The wrist assembly may further include a connector (e.g., connector 148, 248).
The wrist driven portion (e.g., wrist driven portion 146a, 246a) may be configured to be driven by a wrist driving portion (e.g., wrist driving portion 136, 146) of an arm assembly (e.g., arm assembly 131, 231). The wrist driven portion (e.g., wrist driven portion 146a, 246a as shown in fig. 3A, 4A, 5, 6, and 8A-C) may be driven by the wrist driving portion (e.g., wrist driving portion 136, 236) in such a manner as to move the first instrument (e.g., first instrument 142, 242). For example, the wrist driven portion (e.g., wrist driven portion 146a, 246a) may be driven to move the first instrument (e.g., first instrument 142, 242) relative to a second axis (e.g., axis B as shown in fig. 4A, 4B, 5-7, and 8A-8C). In this regard, such a movement of the first instrument (e.g., first instrument 142, 242) may be a rotation of the distal end of the first instrument (e.g., first instrument 142, 242) relative to a point on the second axis (e.g., axis B), and such a point may serve as a pivot for such a movement. Additionally or alternatively, the wrist driven portion (e.g., wrist driven portion 146a, 246a) may be driven by the wrist driving portion (e.g., wrist driving portion 136, 236) in such a manner as to move the second instrument (e.g., second instrument 144, 244). For example, the wrist driven portion (e.g., wrist driven portion 146a, 246a) may be driven to move the second instrument (e.g., second instrument 144, 244) relative to a second axis (e.g., axis B as shown in fig. 4A, 4B, 5-7, and 8A-8C). In this regard, such a movement of the second instrument (e.g., second instrument 144, 244) may be a rotation of the distal end of the second instrument (e.g., second instrument 144, 244) relative to a point on the second axis (e.g., axis B), and such a point may serve as a pivot for such a movement. In an example embodiment, the wrist driven portion (e.g., wrist driven portion 146a, 246a) may be driven by the wrist driving portion (e.g., wrist driving portion 136, 236) in such a manner as to collectively move the first instrument (e.g., first instrument 142, 242) and the second instrument (e.g., second instrument 144, 244). For example, the wrist driven portion (e.g., wrist driven portion 146a, 246a) may be driven to collectively move the first instrument (e.g., first instrument 142, 242) and the second instrument (e.g., second instrument 144, 244) relative to the second axis (e.g., axis B as shown in fig. 4A, 4B, 5-7, and 8A-8C). In this regard, such movement of the first instrument (e.g., first instrument 142, 242) and the second instrument (e.g., second instrument 144, 244) may be a co-rotation of the distal end of the first instrument (e.g., first instrument 142, 242) and the distal end of the second instrument (e.g., second instrument 144, 244) relative to a point on the second axis (e.g., axis B), and such points may serve as pivots for such movement.
The wrist driven portion (e.g., wrist driven portion 146a, 246a) may be any mechanism, device, etc. that may be configured to be driven by a wrist driving portion (e.g., wrist driving portion 136, 236). For example, the wrist driven portion (e.g., wrist driven portions 146a, 246a) may include any one or more or a combination of gear and/or gear assemblies, including a spur gear arrangement, a planetary gear arrangement, a bevel gear arrangement, a helical bevel gear arrangement, a hypoid gear arrangement, a helical gear arrangement, a worm gear arrangement, and/or any other gear and/or mechanical arrangement (such as wires and pulleys) without departing from the teachings of the present disclosure. While the figures illustrate an end effector assembly having one first instrument driven portion, it is understood in this disclosure that an end effector assembly may have more than one first instrument driven portion without departing from the teachings of this disclosure. Although 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.
Controller
In example embodiments, the surgical systems 100, 200 may include a controller (or computing device, manipulator, and/or primary input device). The controller may include one or more processors. The controller may be configurable to perform one or more of a plurality of operations in, on, and/or with respect to the surgical system 100, 200. For example, the controller may be configurable to communicate with and/or control one or more elements of the surgical system 100, 200, such as a surgical arm assembly (e.g., surgical arm assembly 130, 230), image capture assembly 120, 220, etc. The controller may be accessed and/or controlled by a surgical team (e.g., via a user interface), and the surgical team may be capable of communicating with and/or controlling the configuration and/or operation of one or more elements of the surgical system 100, 200. For example, the controller may be configurable to control the motion and motion of some or all of the portions of the surgical arm assembly (e.g., surgical arm assembly 130, 230). The controller may be configurable to receive user interaction information (e.g., user interaction information performed by a surgical team) from a user interface (e.g., user interface 910) representing user interactions performed on the user interface (e.g., user interface 910). The controller may be further configurable to process the received user interaction information. The controller may be further configurable to send one or more commands to a surgical arm assembly (e.g., surgical arm assembly 130, 230) based on the processing. The one or more commands transmitted may include commanding the first instrument driving portion (e.g., first instrument driving portion 132, 232) to drive the first instrument driven portion (e.g., first instrument driven portion 142a, 242a) in such a manner as to move the first instrument (e.g., first instrument 142, 242) in a first direction relative to a first axis (e.g., axis a). The transmitted one or more commands may also include commanding a wrist drive section (e.g., wrist drive section 136, 236) to drive a wrist driven section (e.g., wrist driven section 146a, 246a) in such a manner as to move a first instrument (e.g., first instrument 142, 242) in a second direction relative to a second axis (e.g., axis B).
In an example embodiment, the controller may be configurable to detect a resistance in the motion of at least a portion of the end effector assembly (e.g., end effector assembly 140, 240) and to communicate a haptic feedback response to a user interface (e.g., user interface 910).
The controller may also be configured to receive one or more of a plurality of responses, feedbacks, actions, and/or measurements from one or more elements of the surgical system 100, 200, including, but not limited to, motions, haptic feedback responses, and responses and/or measurements related to the position (including orientation), applied force, proximity, temperature, pressure, humidity, etc., of, and/or in proximity to, the surgical arm assembly (e.g., surgical arm assembly 130, 230) as a whole.
In an example embodiment, the controller may be configurable to receive, from a user interface (e.g., user interface 910), a user interaction (e.g., a user interaction by a surgical team) that is executed on the user interface (e.g., user interface 910) that represents commanding an energy source (not shown) to apply a current (e.g., a first current) to a first instrument (e.g., first instrument 142, 242). In doing so, such a current (e.g., a first current) enables a first instrument (e.g., first instrument 142, 242) to perform the actions of the electrosurgical instrument. In an example embodiment, when the controller receives, from a user interface (e.g., user interface 910), a user interaction performed on the user interface (e.g., user interface 910) that represents an action that commands the energy source to apply (or not apply) a current (e.g., a first current) to a first instrument (e.g., first instrument 142, 242) to perform (or not perform) an electrosurgical instrument, the controller may be configurable to send a command to the energy source that causes the current to be applied (or not applied) to the first instrument (e.g., first instrument 142, 242). Further, the controller may be configurable to apply (or not apply) current to a second instrument (e.g., second instrument 144, 244) in a manner similar or identical to the first instrument (e.g., first instrument 142, 242).
In an example embodiment, when the controller detects a resistance in the motion of at least a portion of the end effector assembly (e.g., end effector assembly 140, 240), the controller may be configured to determine the portion of the end effector assembly (e.g., end effector assembly 140, 240) that encounters the resistance. Further, the controller may be configurable to provide a haptic feedback response to a user interface (e.g., user interface 910) based on such a determination.
In an example embodiment, the controller may be separate from the user interface (e.g., user interface 910). Alternatively, the controller may include a portion or all of the user interface (e.g., user interface 910) or may be in communication with a processor of the user interface (e.g., user interface 910).
User interface (e.g., user interface 910)
In an example embodiment, the surgical system 100, 200 may include a user interface (e.g., user interface 910). A user interface (e.g., user interface 910) may be configurable for use by one or more operators (e.g., one or more members of a surgical team). The user interface (e.g., user interface 910) may be configurable to receive one or more of the plurality of user interactions of the one or more operators and to command one or more elements of the surgical system 100, 200 to perform an action or prevent performance of an action. Such receipt may be via the controller and/or directly from one or more elements of the surgical system 100, 200. For example, the user interface (e.g., user interface 910) may be configurable to control (e.g., via a controller) the movement of one or more portions of the surgical system 100, 200, such as the first instrument (e.g., first instrument 142, 242), the second instrument (e.g., second instrument 144, 244), and other portions of the surgical arm assembly (e.g., surgical arm assembly 130, 230). The user interface (e.g., user interface 910) may also be configurable (e.g., via a controller) to enable the surgical arm assembly (e.g., surgical arm assembly 130, 230) to perform an action of the electrosurgical instrument and/or to disable the surgical arm assembly (e.g., surgical arm assembly 130, 230) from performing an action of the electrosurgical instrument. For example, the user interface (e.g., user interface 910) may be configurable (e.g., via a controller) to apply a current (first current and/or second current) to a first instrument (e.g., first instrument 142, 242) and/or a second instrument (e.g., second instrument 144, 244), control/regulate the application, and/or prevent the application.
The user interface (e.g., user interface 910) may also be configurable to receive one or more of a plurality of responses, feedbacks, actions, and/or measurements from one or more elements and/or controllers of the surgical system 100, 200, including, but not limited to, movements, haptic feedback responses, and responses and/or measurements related to positions (including orientations), applied forces, proximity, temperature, pressure, humidity, etc. of one or more elements of the surgical system 100, 200, and/or the surgical arm assembly (e.g., surgical arm assembly 130, 230).
In an example embodiment, the user interface (e.g., user interface 910) may be separate from the controller. Alternatively, the user interface (e.g., user interface 910) may comprise a portion or all of the controller, or may comprise a processor in communication with the controller.
In an example embodiment, the surgical system 100, 200 may include a memory (not shown) in communication with a controller and/or a user interface (e.g., user interface 910). The memory may be used to store information received from, processed by, and/or communicated to/from a controller and/or user interface (e.g., user interface 910).
The user interface (e.g., user interface 910) may also include one or more graphical interfaces (such as a monitor, projection system, etc.) for displaying video and/or audio content captured by elements of the surgical system 100, 200 (such as the camera arm assembly 120). The one or more graphical interfaces may also be used to display some or all of the responses, feedback, actions, and/or measurements received from one or more elements and/or controllers of the surgical system 100, 200, including, but not limited to, movements, haptic feedback responses, and responses and/or measurements related to the position (including orientation), applied force, proximity, temperature, pressure, humidity, etc. of one or more elements of the surgical system 100, 200, and/or the surgical arm assembly (e.g., surgical arm assembly 130, 230).
While various embodiments in accordance with the principles disclosed have been described above, it should be understood that these embodiments are 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 entitled from the present disclosure and their equivalents. Moreover, the above advantages and features are provided in described embodiments, but shall not limit the application of these issued claims to methods and structures that achieve any or all of the above advantages.
For example, "component," "device," "portion," "segment," "member," "body," or other similar terms, shall generally be construed broadly to include one portion or more than one portion attached or connected together.
Various terms used herein have special meanings within the technical field. Whether a particular term should be construed as such a "technical term" depends on the context in which the term is used. For example, "connected," "attached," "anchored," "in communication with …," "in communication," "associated with …," "associated" or other similar terms are to be construed broadly to include attachments, connections, and anchors either directly between the referenced components or through one or more intermediaries. These and other terms are to be interpreted according to their context of use in the present disclosure, and as one of ordinary skill in the art would understand these terms in the context of this disclosure. The above definitions do not exclude other meanings that may be given to these terms based on the context of the disclosure.
As discussed in this disclosure, a computing device, controller, manipulator, primary input device, processor, and/or system may be a virtual machine, computer, node, instance, host, and/or a device 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 that allows the devices to share resources. As also discussed 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.
The resources may comprise any type of resource for running an instance, including hardware (such as servers, clients, mainframe computers, networks, network storage, data resources, memory, central processing unit time, scientific equipment, and other computing devices) as well as 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, a distributed computing environment, a cloud computing environment, and the like. Such a networked computer environment includes hardware and software infrastructure configured to form a virtual organization comprised of a plurality of resources that may be located in geographically dispersed locations.
Moreover, the scope of coverage of this application and any patent issued to this application can be extended to one or more communication protocols, including TCP/IP.
Words such as "at.
In addition, section headings herein are provided to be consistent with the suggestions of 37CFR 1.77, or to provide structural clues herein. These headings should not limit or characterize the invention(s) that may be set forth in any claims that may issue from this disclosure. In particular and by way of example, the description of technology in the "background" is not to be construed as an admission that the technology is prior art to any invention(s) in the present disclosure. Neither is the "summary" intended to be considered a characterization of the invention(s) set forth in the authorized claims. In addition, any reference in this disclosure to the singular of "the invention" should not be used to prove that there is only one point of novelty in this disclosure. Inventions may be set forth in terms of the limitations of the various claims entitled from this disclosure, and these claims correspondingly define the invention(s) and their equivalents to be protected thereby. In all instances, the scope of these claims is to be considered in accordance with the disclosure as it pertains to the claims themselves, and not limited by the headings set forth herein.
Claims (11)
1. A surgical arm assembly insertable into a cavity of a patient, the surgical arm assembly for performing an in vivo surgical action and comprising:
an end effector assembly having:
a first instrument assembly having:
a first instrument having a first elongate distal end, a second proximal end, the first elongate distal end of the first instrument for performing a surgical action, a disconnectable cable connected to the first instrument, the second proximal end of the first instrument having a first instrument contact portion, the first elongate distal end of the first instrument configurable to receive current from an energy source via an disconnectable cable when the disconnectable cable is configured to be connected to the energy source to perform an electrosurgical action, the first elongate distal end of the first instrument configurable to not receive current from the energy source via the disconnectable cable when the disconnectable cable is configured to be disconnected from the energy source;
a first instrument driven portion configurable to be driven in such a manner as to move the first instrument relative to a first axis; and
a first instrument insulating portion, the first instrument insulating portion being provided between the first instrument and the first instrument driven portion, the first instrument insulating portion being configurable to at least prevent the first instrument driven portion from receiving current applied to the first instrument when the first instrument insulating portion is provided between the first instrument and the first instrument driven portion, the first instrument insulating portion comprising:
a first contact portion of the first instrument insulating portion configured to contact the first instrument contact portion; and
a second contact portion, the second contact portion of the first instrument insulating portion being configured to contact the first instrument driven portion, the first instrument driven portion being configured to move the first elongate distal end of the first instrument relative to the first axis via the first contact portion and the second contact portion, wherein the first instrument insulating portion is provided between the first instrument and the first instrument driven portion in such a manner that the first axis corresponds to a central axis of the first instrument insulating portion; and
an arm assembly securable to the end effector assembly and releasable from the end effector assembly, wherein releasing the end effector assembly from the arm assembly includes deploying the severable cable from the energy source.
2. The surgical arm assembly of claim 1, wherein the end effector assembly further comprises a wrist assembly securable to the first instrument assembly, the wrist assembly having a wrist driven portion configurable to be driven in such a manner as to move the first instrument relative to a second axis, the second axis being different from the first axis.
3. The surgical arm assembly according to claim 2, wherein the arm assembly is securable to and releasable from the end effector assembly via the wrist assembly, wherein the arm assembly comprises:
a first instrument drive portion configurable to perform driving of the first instrument driven portion; and
a wrist driving section configurable to perform driving of the wrist driven section.
4. The surgical arm assembly according to claim 3,
wherein the surgical arm assembly further comprises a second instrument assembly having:
a second instrument configurable to receive an electrical current, the second instrument configurable to perform an electrosurgical action when an electrical current is applied to the second instrument;
a second instrument driven portion configurable to be driven in such a manner as to move the second instrument relative to the first axis; and
a second instrument insulating portion, the second instrument insulating portion being provided between the second instrument and the second instrument driven portion, the second instrument insulating portion being configurable to at least prevent the second instrument driven portion from receiving current applied to the second instrument when the second instrument insulating portion is provided between the second instrument and the second instrument driven portion;
wherein the wrist driven portion is configurable to be driven by the wrist driving portion in such a manner as to move the second instrument relative to the second axis; and is
Wherein the arm assembly further comprises a second instrument drive portion configurable to perform the driving of the second instrument driven portion.
5. The surgical arm assembly of claim 4, wherein the first and second instruments are configurable to move independently of each other relative to the first axis.
6. The surgical arm assembly of claim 4, wherein the wrist driven portion is configurable to collectively move the first and second instruments relative to the second axis.
7. The surgical arm assembly according to claim 2, wherein the first and second axes are orthogonal to one another.
8. The surgical arm assembly according to claim 4,
wherein the first instrument comprises an opening operable to receive at least a portion of the first instrument insulating portion;
wherein the second instrument comprises an opening operable to receive at least a portion of the second instrument insulating portion; and is
Wherein the first shaft is formed through a center of the openings of the first and second instruments.
9. The surgical arm assembly according to claim 4,
wherein the movement of the first instrument relative to the first axis comprises rotation of the first instrument relative to the first axis;
wherein the movement of the second instrument relative to the first axis comprises rotation of the second instrument relative to the first axis; and is
Wherein the movement of the first and second instruments relative to the second shaft is a co-rotation of the first and second instruments relative to the second shaft.
10. The surgical arm assembly of claim 4, wherein the first instrument is configurable to further receive a first current applied from an energy source to perform an action of an electrosurgical instrument;
wherein the first instrument insulating portion is configured to electrically isolate the first current received by the first instrument from the second instrument through the end effector assembly when the first instrument receives the first current.
11. The surgical arm assembly according to claim 4,
wherein the surgical arm assembly is in communication with a user interface;
wherein the surgical arm assembly is configurable to provide a haptic feedback response to the user interface when one or more of the following occurs:
resistance is encountered by movement of the first instrument and/or movement of the second instrument;
resistance is encountered by the first instrument driven portion driving the first instrument and/or the second instrument driven portion driving the second instrument;
resistance is encountered by the first instrument driving portion to driving of the first instrument driven portion and/or by the second instrument driving portion to driving of the second instrument driven portion;
resistance is encountered by the wrist drive section in driving of the first instrument and/or the wrist drive section in driving of the second instrument; and/or
The wrist driving section encounters resistance to driving of the wrist driven section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811148451.4A CN109567902B (en) | 2016-11-01 | 2016-11-01 | Surgical robotic device and system for performing minimally invasive and transluminal endoscopic surgical actions |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811148451.4A CN109567902B (en) | 2016-11-01 | 2016-11-01 | Surgical robotic device and system for performing minimally invasive and transluminal endoscopic surgical actions |
| CN201680003619.5A CN106999251B (en) | 2016-11-01 | 2016-11-01 | For executing surgical robot that is minimally invasive and acting through natural cavity endoscopic surgery and system |
| PCT/CN2016/104270 WO2018081931A1 (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 |
Related Parent Applications (1)
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| CN201680003619.5A Division CN106999251B (en) | 2016-11-01 | 2016-11-01 | For executing surgical robot that is minimally invasive and acting through natural cavity endoscopic surgery and system |
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| CN109567902A CN109567902A (en) | 2019-04-05 |
| CN109567902B true CN109567902B (en) | 2022-04-08 |
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| CN201910120413.6A Active CN110074865B (en) | 2016-11-01 | 2016-11-01 | Surgical robotic device and system for performing minimally invasive and transluminal endoscopic surgical actions |
| CN201680003619.5A Active CN106999251B (en) | 2016-11-01 | 2016-11-01 | For executing surgical robot that is minimally invasive and acting through natural cavity endoscopic surgery and system |
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| CN201910120413.6A Active CN110074865B (en) | 2016-11-01 | 2016-11-01 | Surgical robotic device and system for performing minimally invasive and transluminal endoscopic surgical actions |
| CN201680003619.5A Active CN106999251B (en) | 2016-11-01 | 2016-11-01 | For executing surgical robot that is minimally invasive and acting through natural cavity endoscopic surgery and system |
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| GB (1) | GB2568616B (en) |
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| EP3134006B1 (en) | 2014-04-22 | 2020-02-12 | Bio-Medical Engineering (HK) Limited | Single access surgical robotic devices and systems |
| 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 |
| 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 |
| US10500008B2 (en) | 2014-04-22 | 2019-12-10 | Bio-Medical Engineering (HK) Limited | Surgical arm system with internally driven gear assemblies |
| SG11202105684PA (en) * | 2018-11-30 | 2021-06-29 | Bio Medical Eng Hk Ltd | Robotic arm system with gear-driven end-effector assembly |
| CN110547876B (en) * | 2019-06-28 | 2020-10-09 | 香港生物医学工程有限公司 | Surgical arm system with internally driven gear assembly |
| US11246668B1 (en) | 2021-07-16 | 2022-02-15 | Yijiahe (Singapore) Pte. Ltd. | Minimally invasive surgical tool with asymmetric gear assembly |
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- 2016-11-01 SG SG11201805714YA patent/SG11201805714YA/en unknown
- 2016-11-01 CN CN201811148451.4A patent/CN109567902B/en active Active
- 2016-11-01 CN CN201910120413.6A patent/CN110074865B/en active Active
- 2016-11-01 CN CN201680003619.5A patent/CN106999251B/en active Active
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| CN106999251B (en) | 2019-07-09 |
| GB2568616A (en) | 2019-05-22 |
| CN110074865B (en) | 2021-07-30 |
| CN109567902A (en) | 2019-04-05 |
| WO2018081931A1 (en) | 2018-05-11 |
| GB2568616B (en) | 2019-12-25 |
| GB201901850D0 (en) | 2019-04-03 |
| CN110074865A (en) | 2019-08-02 |
| SG11201805714YA (en) | 2018-07-30 |
| CN106999251A (en) | 2017-08-01 |
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