VIRTUAL REALITY SURGICAL TOOLS SYSTEM
A method and system for use in surgery, which includes a grasper having a jaw, and a grasper housing having a proximal end and distal end and defining a docking opening, and a tool having a tool housing having a proximal end, a distal end and defining an inner surface, and a robotic device operably coupled to the proximal end of the grasper housing, and configured to actuate the jaw of the grasper. The tool housing having an operative assembly at the distal end of the tool housing, and the tool housing defining a docking assembly at the proximal end of the tool housing. The operative assembly having a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.
This application is a continuation of U.S. patent application Ser. No. 17/019,045, filed Sep. 11, 2020, which is a continuation of U.S. patent application Ser. No. 15/891,865 filed Feb. 8, 2018, which claims benefit under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 62/532,054, filed on Jul. 13, 2017, and U.S. Provisional Patent Application No. 62/456,926, filed on Feb. 9, 2017, each of which is hereby incorporated by reference in their entirety.
BACKGROUND Field of InventionThis application generally relates to minimally invasive surgery, minimally invasive surgical tools and virtual reality minimally invasive surgical systems.
Description of Related ArtFrom its onset in the 1990's the minimally invasive surgical field has developed and grown expeditiously, with said developments and growth producing improved results for patients. As a result of the growth and developments in the field, more and more types of procedures are now being conducted using minimally invasive surgery techniques and systems. One of the major differences between conventional “open” surgery and minimally invasive surgery is how the surgeon obtains access to the surgical site. In a conventional “open” surgery, typically a rather large incision is made from below the patient's breastbone to the patient's navel or beyond. In comparison, during a minimally invasive surgery, a series of small incisions are made, which allows a surgeon to insert an endoscope or other type of camera through one of the small incisions and insert different surgical tools and/or instruments through the other incisions. While minimally invasive surgery has provided patients with improved outcomes, it has come at an expense to the surgeon's ability to operate with precision and ease, as a surgeon is constrained by its insertion point both in movement of their instruments and the number of instruments that can be inserted at a surgical site at a given time.
During both a conventional “open” surgery and minimally invasive surgery, a surgeon utilizes numerous different tools, to perform different surgical functions. Such tools can include but are not limited to, tools for needle driving, grasping, ablation, cautery, clip application, stabling, sharp dissection, irrigation, and suction. As stated above, in typical minimally invasive surgeries, a surgeon utilizes multiple small incisions in a patient's body to insert different surgical instruments and tools to perform different surgical functions. While more appealing than conventional “open” surgeries, the multiple incisions necessary to perform a minimally invasive surgery leave a lot to be desired, as multiple incisions leaves a patient vulnerable to multiple infections and hernias, as well as skin and soft tissue trauma.
Surgeons have attempted to relieve some of these issues by utilizing surgical robotic devices to physically perform the operation. However, many surgical robotic devices require multiple incision points to allow a surgeon access to multiple surgical tools. Furthermore, surgical robotic devices create an increased disconnect between the surgeon and the surgical instruments of the robotic device. This disconnect has led to injuries as a surgeon is not fully aware of the motion and/or force being applied by the robotic device. As a result of being unaccustomed to the multiple degrees of freedom of many of existing robotic devices, surgeons must exhaustively train on robotic simulators before operating on a patient to decrease the possibility of an inadvertent injury.
In an attempt to avoid the need for multiple incision points, some surgeons have utilized single incision surgical robotic devices. However, existing single incision surgical robotic devices have many drawbacks, resulting from the size of their actuation mechanisms, which have been incorporated into their in vivo robot. Currently some single incision robotic devices incorporate servomotors, gearboxes, and encoders, among other actuation mechanisms within the in vivo robot. The incorporation of the actuator mechanisms into an in vivo robot has resulted in large robots with narrow capabilities. The implementation of large single-incision robotic devices have resulted in the need for large incisions to be made, which comes with an increase in patient's susceptibility for infection, pain, herniation, and general morbidity. In addition, the single incision devices have limited degrees of freedom, with some of these degrees of freedom being non-intuitive to a human. These non-intuitive degrees of freedom require a user interface that allows a surgeon to make non-intuitive learned movements which are similar to multi-incision devices.
Furthermore, existing single incision devices are constrained in the number of surgical tools and instruments that are readily accessible to a surgeon during an operation. Some single-incision devices have attempted to alleviate this issue by allowing different tools and instruments to be switched out with one another. However, in order to switch between tools a surgeon must remove the entire device from the patient's body and then manually replace it, which has significant drawbacks. These drawbacks include increased patient susceptibility to infection, herniation, pain and general morbidity due to increase in the number of times the device is removed and reinserted. Furthermore, this exchange increases the time it takes to perform an operation and disrupts a surgeon's workflow.
Alternative single incision devices have attempted to eliminate the need to remove the entire device in order to switch between tools by having multifunctional tools. However, in this implementation a surgeon is limited to the functions that said multifunctional tool is capable of performing. Due to this limitation, a surgeon still needs to remove the device from the patient's body and attach a different tool and/or insert an entirely different device to perform a different function that the multifunctional tool is unable to perform.
In other single-incision devices, a surgeon interchanges tools while the device remains located within the patient's body. However, with these devices the surgeon must completely remove the entire end effector, which encompasses a tool and typically the driving mechanism of the tool. While the surgeon is removing and substituting end effectors, the entire apparatus is rendered incapacitated, interrupting the operation and disrupting the surgeon's work flow. Moreover, different end effectors can encompass different driving mechanisms which limits what tools can be attached to what manipulator and also what tools can be used at the same time, thus interrupting the operation and increasing operating time.
As with conventional minimally invasive operations as well as with existing robotic surgeries, a surgeon removes the instrument from the surgical site and then inserts a new instrument. While removing instruments and inserting new instruments is a viable option in conventional minimally invasive operations and existing robotic surgeries, it is unpractical and not an intuitive method for interchanging tools during virtual reality surgeries. In virtual reality surgeries, the surgeon has the perception of being condensed inside a patient's body at a surgical site. A small robot placed within the patient replicates the motion of the surgeon's arms and hands. In conjunction with three-dimensional visualization provided by virtual reality goggles, the surgeon views the operation and interacts with the robotic arms as if the robotic arms have taken the form of the surgeon's arms and hands. With this natural humanlike robot located within a patient it is not ideal for a surgeon to remove the robot to exchange between instruments. Removal and insertion of the robotic device would be cumbersome, and would require a surgeon to disconnect and remove his/herself from the natural and immersive virtual reality user interface. In order to allow a surgeon to remain immersed in the natural and immersive virtual reality user interface, a different technique of exchanging surgical instruments is necessary for virtual reality surgery.
With human-like robotics systems, having a successful system results from maintaining a natural and intuitive human-machine interface (HMI). As such, it is advantageous in a virtual reality surgery for a surgeon to be able to interact with the requisite tools while maintaining the functionality of a human-like robot.
BRIEF SUMMARY OF INVENTIONThe system allows a surgeon to exchange between different surgical tools and apparatuses during a minimally invasive surgery procedure. In one embodiment the technology includes a system comprising a grasper comprising, a grasper housing having a distal end and a proximal end, the grasper housing defining a docking opening at the distal end, the docking opening having a shape, and a jaw at the distal end of the grasper housing, the jaw including a first jaw portion and a second jaw portion, the first and second jaw portions being movably opposed, at least one of the first and second jaw portions comprises at least one actuation mating surface, a tool comprising, a tool housing having a distal end and a proximal end and defining an inner surface, a docking assembly defined by the tool housing at the proximal end of the tool housing, the docking assembly comprising a first protrusion extending proximally from the proximal end of the tool housing and having a first protrusion shape complementary to the shape of the docking opening, and an operative assembly at the distal end of the tool housing, the operative assembly comprising, a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever, and a robotic device operably coupled to the proximal end of the grasper and configured to actuate the first and second jaw portions of the grasper between a first jaw position and a second jaw position. In an implementation of the embodiment, the first protrusion of the docking assembly of the tool is configured to cooperate with the docking opening of the grasper housing to constrain the tool in all axes relative to the grasper. In an implementation of the embodiment, the first lever comprises a proximal end configured to ride along the at least one actuation mating surface of one of the first or second jaw portions of the grasper. In an implementation of the embodiment, the actuator is configured to apply a force upon the first lever to bias the first lever in a first direction.
In an implementation of the embodiment at least one of the first and second jaw portions of the grasper is configured to apply a force on the first lever to rotate the first lever about the fulcrum from a first lever position to a second lever position. In an aspect of an implementation the actuator is configured to retain an energy from the force applied by the at least one of the first and second jaw portions. In an aspect of an implementation, the actuator is configured to release the energy retained by said actuator as a force upon the at least one lever to rotate the at least one lever about the fulcrum from the second lever position to the first lever position.
In an implementation of the embodiment, the first jaw portion is fixed relative to the grasper housing and the second jaw portion is movable relative to the first jaw portion. In an implementation of the embodiment, the first and second jaw portions are independently movable.
In an implementation of the embodiment, the tool housing comprises a plurality of tool housing segments, with said segments defining a tool housing interior, and the plurality of tool housing segments are coupled by at least one support. In one aspect of an implementation comprising a plurality of tool housing segments, the actuator is operably coupled to the interior of one of the plurality of tool housing segments.
In an implementation of the embodiment, at least one of the first and second jaw portions define a channel having a channel shape and the docking assembly further comprises a second protrusion extending from the inner surface of the tool housing that has a second protrusion shape complementary to the channel shape. In an aspect of an implementation, the first protrusion of the docking assembly is configured to cooperate with the docking opening of the grasper housing and the second protrusion of the docking assembly is configured to cooperate with the channel of the at least one of the first and second jaw portions to constrain the tool in all axes relative to the grasper.
In an implementation of the embodiment, the first jaw portion comprises an electrically conductive contact portion at a distal end of the jaw portion, and an electrical conductor coupled to the conductive contact portion and the first jaw portion is electrically insulated. In an implementation of the embodiment, the first and second jaw portions are electrically conductive and the first jaw portion is coupled to a first electrical conduction and the second jaw portion is coupled to a second electrical conductor, and the embodiment further comprises a power supply coupled to the first and second electrical conductors for supplying electrical power to the first and second jaw portions, and the first and second jaw portions are electrically insulated.
In one implementation of the embodiment, the operative assembly of the tool further comprises a second lever operably coupled to the fulcrum, a second instrument operably coupled to the second lever, and the first and second levers each comprise a proximal end and the first and second jaw portions of the grasper each comprise at least one actuation mating surface. In an aspect of an implementation, the proximal end of the first lever is configured to ride along the at least one actuation mating surface of the first jaw portion and the proximal end of the second lever is configured to ride along the at least one actuation mating surface of the second jaw portion. In an aspect of an implementation, the first and second lever are configured to move independently of one another. In an aspect of an implementation, the operative assembly of the tool further comprises a second actuator operably coupled to the tool housing and the second lever.
In one implementation of the embodiment, the instrument of the operative assembly is one of surgical scissors, needle driver, forceps, grasper, retractor, surgical stapler, vessel sealer, surgical drill, cautery pen, cautery hook or caliper. In an implementation of the embodiment, the instrument comprises a first component and a second component, the first component operably coupled to the first lever and the second component operably coupled to a second lever.
In an implementation of the embodiment, the first jaw portion further comprises a force-open channel having a force-open channel shape and the first lever of the tool further comprises a proximal end comprising a projection having a projection shape complementary to the force-open channel. In an aspect of an implementation, when a tool couples to the grasper the projection of the first lever is configured to cooperate with the force-open channel of the first jaw portion of the grasper to allow the projection to pass through the force-open channel and maintain a clearance over the first jaw portion. In an aspect of an implementation, the first jaw portion of the grasper is configured to apply a force upon the projection of the first lever as the first jaw portion moves from the second jaw position to the first jaw position to rotate the first lever about the fulcrum from a second lever position to a first lever position.
In an implementation of the embodiment the first jaw portion of the grasper further comprises a first force-open channel having a first force-open channel shape and the first lever of the operative assembly further comprises a proximal end with a first projection having a first projection shape complementary to the first force-open channel of the first jaw portion and the second jaw portion of the grasper further comprises a second force-open channel having a second force-open channel shape and the operative assembly of the tool further comprises a second lever having a second instrument and a proximal end having a second projection having a second projection shape complementary to the second force-open channel of the second jaw portion.
In an implementation of the embodiment, the grasper housing further defines a plurality of docking openings with each of the plurality of docking openings having a shape and the docking assembly of the tool further comprises a plurality of first protrusions extending proximally form the proximal end of the tool housing and each of the first protrusions having a corresponding shape complementary to the shape of one of the plurality of docking openings, and the first protrusions of the docking assembly of the tool are configured to cooperate with the plurality of docking openings of the grasper housing to constrain the tool in all axes relative to the grasper.
In an implementation of the embodiment the first jaw portion defines a plurality of channels with each of the plurality of channels having a channel shape and the second jaw portion defines a plurality of channels with each of the plurality of channels having a channel shape, and the docking assembly further comprises a plurality of second protrusions extending form the inner surface of the tool housing, each of the plurality of second protrusions having a corresponding second protrusion shape complementary to the channel shape of the plurality of channels of the first jaw portions and the channel shape of the plurality of channels of the second jaw portion.
In an implementation of the embodiment, the first protrusion of the docking assembly of the tool comprises a first magnetic contact having a first magnetic contact shape and the docking opening of the grasper housing comprises a second magnetic contact having a second magnetic contact shape complementary to the first magnetic contact of the first protrusion, with the first magnetic contact of the first protrusion of the docking assembly of the tool configured to cooperate with second magnetic contact of the docking opening of the grasper to constrain the tool in all axes relative to the grasper.
In a second embodiment the technology includes a system comprising a grasper comprising, a grasper housing having a distal end and a proximal end, the grasper housing defining a docking opening at the distal end, the docking opening having a shape, and a jaw at the distal end of the grasper housing, the jaw including a first jaw portion and a second jaw portion, with at least one of the first and second jaw portions movably relative to the other, and a tool comprising a tool housing having a distal end and a proximal end and defining an inner surface, a docking assembly defined by the tool housing at the proximal end of the tool housing, the docking assembly comprising a first protrusion extending proximally from the proximal end of the tool housing and having a first protrusion shape complementary to the shape of the docking opening, and an operative assembly at the distal end of the tool housing, the operative assembly comprising an instrument operably connected to the tool housing, and a robotic device operably coupled to the proximal end of the grasper and configured to actuate the first and second jaw portions of the grasper between a first position and a second position. In the system, the first protrusion of the docking assembly of the tool is configured to cooperate with the docking opening of the grasper housing to constrain the tool in all axes relative to the grasper.
In an implementation of the second embodiment, the first jaw portion is fixed relative to the grasper housing and the second jaw portion is movable relative to the first jaw portion. In an implementation of the second embodiment, the first and second jaw portions of the grasper are independently movable. In an implementation of the second embodiment, the first and second jaw portions of the grasper are movably opposed.
In an implementation of the second embodiment, the instrument of the operative assembly is one of a cautery hook, scalpel, cautery pen, surgical probe, biopsy puncher, dissector, curette, gouge, knife, impactor, rasps, retractor, saw, separator, spatula, stripper, or surgical needle.
In an implementation of the second embodiment, the tool housing comprises a plurality of tool housing segments, the plurality of tool housing segments defines a tool housing interior and with the plurality of tool housing segments coupled by at least one support.
In an implementation of the second embodiment, at least one of the first and second jaw portions of the grasper defines a channel having a channel shape and the docking assembly of the tool further comprises a second protrusion extending form the inner surface of the tool housing that has a second protrusion shape complementary to the channel shape of the at least one of the first and second jaw portions of the grasper, and the first protrusion of the docking assembly of the tool is configured to cooperate with the docking opening of the grasper housing and the second protrusion of the docking assembly is configured to cooperate with the channel of the at least one of the first and second jaw portions of the grasper to constrain the tool in all axes relative to the grasper.
In an implementation of the second embodiment the first jaw portion comprises an electrically conductive contact portion at a distal end of the jaw portion, and an electrical conductor coupled to the conductive contact portion, and the first jaw portion is electrically insulated. In an aspect of an implementation, the tool housing of the tool comprises an electrically conductive contact disposed on the inner surface of the tool housing and the first jaw portion is configured to transmit electrical power to the electrical conductive contact of the tool housing. In an aspect of an implementation, the electrically conductive contact of the tool housing is operably coupled to the instrument of the operative assembly to transfer electrical power to said instrument.
In an implementation of the second embodiment, the first jaw portion is electrically conductive and is coupled to a first electrical conductor and the second jaw portion is electrically conductive and is coupled to a second electrical conductor. In an aspect of an implementation, the tool housing comprises a plurality of electrically conductive contacts operably coupled to the instrument of the operative assembly, and the first and second jaw portions are configured to transfer electrical power to the plurality of electrically conductive contacts for supplying electrically power to the instrument.
In an implementation of the second embodiment, the grasper housing further defines a plurality of docking openings, each of the plurality of docking openings having a shape, and the docking assembly of the tool further comprising a plurality of first protrusions extending proximally form the proximal end of the tool housing and each of the plurality of first protrusions having a corresponding first protrusion shape complementary to the shape of one of the plurality of docking openings, and wherein the plurality of first protrusions of the docking assembly of the tool are configured to cooperate with the plurality of docking openings of the grasper housing to constrain the tool in all axes relative to the grasper.
In an implementation of the second embodiment, the first jaw portion defines a plurality of channels, each of the plurality of channels having a channel shape and the second jaw portion defines a plurality of channels each of the plurality of channels having a channel shape and the docking assembly further comprising a plurality of second protrusions extending from the inner surface of the tool housing, each of the second protrusions having a corresponding second protrusion shape complementary to the channel shape of the plurality of channels of the first jaw portion and the channel shape of the plurality of channels of the second jaw portion.
In an implementation of the second embodiment, at least one of the first and second jaw portions is configured to be electrified and at least one of the first and second jaw portions is configured to supply electrical power to the instrument of operative assembly.
The technology includes an embodiment of a method comprising, providing a grasper comprising, a grasper housing having a distal end and a proximal end, the grasper housing defining a docking opening at the distal end, the docking opening having a shape, and a jaw at the distal end of the grasper housing, the jaw including a first jaw portion and a second jaw portion, the first and second jaw portions being movably opposed, providing a tool comprising, a tool housing having a distal end and a proximal end and defining an inner surface, a docking assembly defined by the tool housing at the proximal end of the tool housing, the docking assembly comprising a first protrusion extending proximally from the proximal end of the tool housing and having a first protrusion shape complementary to the shape of the docking opening, and an operative assembly at the distal end of the tool housing, adjusting the jaw of the grasper to a first jaw position, and disposing the first protrusion of the docking assembly into the docking opening of the grasper housing. In the method, the operative assembly of the tool further comprises an instrument operably coupled to the tool housing.
In an implementation of the method, at least one of the first and second jaw portions of the grasper defines a channel having a channel shape, and the docking assembly further comprises a second protrusion extending from the inner surface of the tool housing having a second protrusion shape complementary to the channel shape. In an implementation of the method, the disposing step further comprising the step of simultaneously aligning the second protrusion of the docking assembly with the channel of at least one of the first and second jaw portions of the jaw. In an aspect, the method further comprises the step of adjusting the jaw of the grasper to a second jaw position that is relatively more closed than the first jaw position to cause the second protrusion of the docking assembly to enter the channel of at least one of the first and second jaw portions of the grasper.
In one implementation of the method, the operative assembly of the tool further comprises, a fulcrum operably coupled to the tool housing, a lever operably coupled to the fulcrum, an instrument operably coupled to the lever, and an actuator operably coupled to the tool housing and the at least one lever. In one implementation of the method, the first jaw portion of the jaw of the grasper further comprises at least one actuation mating surface and the second jaw portion of the jaw of the grasper further comprises at least one actuation mating surface. In an aspect, the method further comprising the step of adjusting the jaw of the grasper to a second jaw position that is relatively more closed than the first jaw position to cause the lever of the operative assembly to mate with the actuation mating surface of one of the first or second jaw portions. In an aspect, the method further comprising the step of applying a force upon the lever of the tool using the jaw of the grasper, as the jaw of the grasper moves towards a closed jaw position to cause the lever to ride along the actuation mating surface of one of the first or second jaw portions while the lever rotates about the fulcrum from a first lever position to a second lever position. In an aspect, the method further comprising the step of administering a force upon the lever with the actuator to cause the lever to rotate around the fulcrum from the second lever position to the first lever position as the jaw of the grasper moves from the closed jaw position towards the first jaw position, while the lever rides along the actuation mating surface of one of the first or second jaw portions.
In an implementation of the method, the instrument comprises, a fulcrum operably coupled to the tool housing, a first and second lever operably coupled to the fulcrum, a first instrument component operably coupled to the first lever, a second instrument operably coupled to the second lever, a first actuator operably coupled to the tool housing and the first lever, and a second actuator operably coupled to the tool housing and the second lever. In an aspect of an implementation, the first jaw portion of grasper further comprises a first actuation mating surface and second actuation mating surface and the second jaw portion of the grasper further comprises a first actuation mating surface and second actuation mating surface. In an aspect, the method further comprises the step of adjusting the jaw of the grasper to a second jaw position that is relatively more closed than the first jaw position to cause the first lever of the instrument to mate with one of the first or second actuation mating surface of one of the first or second jaw portions and the second lever to mate with one of the first or second actuation mating surface of one of the first or second jaw portions. In an aspect, the method further comprises a step of applying a force upon the first and second levers of the instrument using the jaw of the grasper as said jaw moves from the second jaw position towards a third jaw position that is relatively more closed than the second jaw position to cause the first lever to rotate about the fulcrum from a first lever position to a second lever position while the first lever rides along one of the first or second actuation mating surface of one of the first or second jaw portions and the second lever rotates about the fulcrum from the first lever position to the second lever position while the second lever rides along one of the first or second actuation mating surface of one of the first or second jaw portions. In an aspect, the method further comprises the step of moving the jaw of the grasper from the third jaw position to the first jaw position thereby enabling the first actuator to apply a force upon the first lever and enabling the second actuator to apply a force upon the second lever, the force applied by the first actuator causes the first lever to rotate about the fulcrum from the second lever position to the first lever position while the first lever rides along one of the first or second actuation mating surface of one of the first or second jaw portions and the force applied by the second actuator causes the second lever to rotate about the fulcrum from the second lever position to the first lever position while the second lever rides along one of the first or second actuation mating surface of one of the first or second jaw portions.
In an implementation the method, the operative assembly further comprises an instrument operably connected to the tool housing and the tool housing further comprises a plurality of electrically conductive contacts that are operably connected to the instrument and at least one of the first and second jaw portions is electrically conductive and is coupled to a first electrical conductor coupled to a power supply and said method further comprises mating the at least one of the first or second jaw portions that is electrically conductive with the plurality of electrically conductive contacts of the tool housing to transfer electrical power from the at least one of the first or second jaw portions that is electrically conductive to the plurality of electrically conductive contacts to cause the instrument to become electrified.
In an implementation of the method, the operative assembly of the tool further comprises a fulcrum operably coupled to the tool housing, a lever comprising a proximal end comprising a proximal end comprising a projection and operably connected to the fulcrum, and instrument operably coupled to the lever, and an actuator operably coupled to the tool housing and the least one lever. In an aspect of an implementation, at least one of the first and second jaw portions of the grasper comprises a force-open channel having a force-open shape complementary to the projection of the lever, and at least one of the first and second jaw portions of the grasper comprises a top surface and at least one actuation mating surface configured to cooperate with the lever and said method further comprises the step of orientating the instrument to a closed instrument position. In an aspect, the method further comprises the step of adjusting the jaw of the grasper to a closed jaw position to cause the projection of the lever to pass through the force-open channel of one of the first or second jaw portions of the grasper, while simultaneously aligning and mating the lever with the actuation mating surface of one of the first or second jaw portions and while one of the first or second jaw portions of the grasper simultaneously applies a force upon the lever of the operative assembly. In an aspect, the method further comprises the step of adjusting the jaw of the grasper from the closed jaw position towards an open jaw position to allow the actuator of the operative assembly to simultaneously administer a force upon the lever to cause the projection of the lever to maintain a clearance above the top surface of one of the first or second jaw portions of the grasper, while simultaneously allowing the lever to ride along the actuation mating surface of one of the first or second jaw portions, while the lever rotates about the fulcrum to cause the instrument of the operative assembly to move towards a first instrument position. In an aspect, the method further comprises the step of contacting the projection of the lever with the top surface of one of the first or second jaw portions of the grasper, while the jaw of the grasper moves towards the open jaw position to cause one of the first or second jaw portions to apply a force upon the projection to cause the lever to rotate about the fulcrum, while the projection simultaneously rides along the top surface of one of the first or second jaw portions to cause the instrument of the operative assembly to reach the first instrument position. In an aspect, the method further comprises the step of applying a force upon the lever using the jaw of the grasper to cause the lever to rotate about the fulcrum, while the lever rides along the actuation mating surface of one of the first or second jaw portions to cause the instrument of the operative assembly to move to a second instrument position that is relatively more closed than the first instrument position, while the projection of the lever simultaneously rides above the top surface of one of the first or second jaw portions of the grasper.
In an embodiment, the technology includes a surgical apparatus comprising, a grasper comprising a grasper housing having a distal end and a proximal end, the grasper housing defining a docking opening at the distal end, the docking opening having a shape, and a jaw at the distal end of the grasper housing, the jaw including a first jaw portion and a second jaw portion, at least one of the first or second jaw portions is movable relative to the other, and wherein the first and second jaw each comprise at least one actuation mating surface, and a robotic device operably coupled to the proximal end of the grasper housing and configured to actuate the first and second jaw portions of the grasper between a first position and a second position. In an implementation of the surgical apparatus, the first and second jaw portions of the grasper are configured to engage and actuate a tool. In an implementation of the surgical apparatus, the shape of the docking opening of the grasper housing is configured to mate with a tool having a tool housing comprising a proximal end and a distal end and an inner surface, the tool housing defines a docking assembly at the proximal end of the tool housing, the docking assembly comprises a first protrusion extending proximally from the proximal end of the tool housing and having a shape complementary to the docking opening of the grasper, and the first protrusion is configured to cooperate with the docking opening to constrain the tool in all axes relative to the grasper.
In an implementation of the surgical apparatus, at least one of the first and second jaw portions define a channel having a channel shape and configured to cooperate with a tool having a tool housing comprising a proximal end and a distal end and an inner surface, the tool housing defines a docking assembly at the proximal end of the tool housing, the docking assembly comprises a first protrusion extending proximally from the proximal end of the tool housing and having a first protrusion shape complementary to the docking opening of the grasper, and the docking assembly of the tool further comprises a second protrusion extending from the inner surface of the tool housing and having a second protrusion shape complementary to the channel shape. In an aspect of an implementation, the docking opening of the grasper housing is configured to cooperate with the first protrusion of the docking assembly of the tool, and the channel of the at least one of the first and second jaw portions of the grasper is configured to cooperate with the second protrusion of the docking assembly of the tool to constrain the tool in all axes relative to the grasper.
In an implementation of the surgical apparatus, the first jaw portion is fixed relative to the grasper housing and the second jaw portions is movable relative to the first jaw portion. In implementation of the surgical apparatus, the first and second jaw portions are independently movable.
In an implementation of the surgical apparatus, the first jaw portion comprises, an electrically conductive contact portion at a distal end of the jaw portion, an electrical conductor coupled to the conductive contact portion, and a proximal end comprising an electrical insulator. In an aspect of an implementation, the electrically conductive contact and the electrical conductor of the first jaw portion are configured to transfer an electrical current to a tool to electrify said tool.
In an implementation of the surgical apparatus, the first jaw portion is electrically conductive and is coupled to a first electrical conductor and the second jaw portion is electrically conductive and is coupled to a second electrical conductor. In an aspect of an implementation, the grasper housing is configured as an electrical insulator.
In an aspect of an implementation, the first and second jaw portions of the grasper each comprises a proximal end, the proximal end of both the first and second jaw portions are electrically insulated. In an aspect of an implementation, the first and second jaw portions of the grasper are configured to transfer an electrical current to a tool to electrify said tool.
In an implementation of the surgical apparatus, at least one of the first and second jaw portions of the grasper comprises a force-open channel having a force-open channel shape complementary to a projection of a lever of a tool, and the at least one of the first and second jaw portions having the force-open channel further comprises a top surface. In an aspect of an implementation, the force-open channel is configured to allow the projection of the lever of the tool to pass through the channel to allow the projection to rest above the top surface of the at least one of the first and second jaw portions having the force-open channel and said top surface is configured to apply a force upon the projection of the lever of the tool to cause the tool to move to a first tool position.
Note that numbered items remain consistent across all figures. Items numbered with the same number are either the same item, or identical copies of the item. Items numbered with different numbers are either parts of different design, or are occasionally identical parts serving different purposes.
While the present system is designed for use by a surgeon within the abdominal cavity, many alternative uses of the device are possible. For example, a user might be a physician assistant, nurse, surgical aid, or any other surgical personnel. Additionally, the device could be disposed within any part of a patient's body, and future embodiments could be designed to be much smaller so as to allow for use within smaller areas of a patient's body. Both smaller and larger devices can be fabricated for use in areas such as the paranasal sinuses, colon, stomach, or any other areas within the human body including but not limited to, the abdomen, cranium and cervicis. Micro-fabrication using MEMS or other means could allow for a device to be positionable within immensely small areas such as human blood vessels.
In other embodiments, the device may be used for non-surgical or non-medical tasks such as micro-fabrication, assembly of parts, bomb defusing, industrial manufacturing, or any other task requiring the use of multiple tools and fine motor skills. Alternative embodiments of the device could be fabricated to be human-sized or even larger-than-life allowing humans to perform tasks, which they are too small, too weak, or otherwise unable. Obviously, in such embodiments, the user may not necessarily be a surgeon.
OverviewThe surgical apparatus system disclosed herein has been designed to be incorporated and utilized with the Virtual Reality Surgical Device disclosed in International Patent Application No. PCT/US2015/02926 (published as International Patent Application No. WO2015171614A1), included in the attached appendix and incorporated by reference in its entirety herein. Notwithstanding the above sentence, in other embodiments the surgical apparatus system disclosed herein can be implemented and utilized by other existing robotic surgery systems and/or devices.
The purpose of the system is to allow a surgeon who is performing surgery utilizing the Virtual Reality Surgical Device to be able to interchange between different types of surgical tools and instruments without having to remove the robotic arm from the surgical site and manually switch and attach different surgical tools. The system allows a surgeon to select and use a desired tool using the robotic arm of the Virtual Reality Surgical Device, the same way a person would use his or her own hand to pick up an object in normal every day life, thus allowing a surgeon to remain completely immersed in virtual reality while utilizing the Virtual Reality Surgical Device.
The system disclosed provides numerous advantages for surgeons, as it allows a surgeon to interact with the in vivo robotic device as if the device were the surgeon's own arms and hands. This allows a surgeon to perform very difficult and delicate procedures in close quarters, while allowing a surgeon to maintain the natural motions to which he or she is accustomed when performing a procedure. With the system a surgeon is able to perform an operation in the manner and form in which he or she is accustomed, while being able to access areas of the body that would not otherwise be accessible using other robotic devices. Additionally, with the system a surgeon is able to switch between different tools and instruments at his or her own free will, without having to remove the entire surgical device to enact the exchange between tools and/or instruments. This allows a surgeon to perform numerous complex procedures without undue delay, thus decreasing the time it takes to perform a procedure and allowing a patient to commence their recovery sooner.
In addition, the system reduces the number of incisions necessary for an operation to be performed. A reduction in the number of incisions provides an immense benefit to a patient's health and recovery, as the risk of infection and size and number of surgical wounds are decreased. As the tools and instruments of the system can be introduced into a patient through the same incision as the robotic device and also remain in close proximity to a surgical site inside of the patient, a surgeon is able to interchange between different tools and instruments with ease without removal of the device. This helps to reduce the operation time, reduce the need to reposition the robotic device at the surgical site and also helps a surgeon concentrate on performing a surgery, thus improving his or her productivity.
The surgical apparatus system also allows the surgeon access to an extensive collection of surgical tools and instruments, while utilizing only one device, thus bestowing a surgeon with the ability to perform numerous procedures without having to purchase or utilize multiple robotic devices.
Unless otherwise stated, the term “distal” as used herein means relatively further from a reference point, while “proximal” means relatively closer to a reference point. In general, the reference point will be the operator of the object being described.
In one embodiment, the tool hull 100 is fabricated out of two bodies or tool housing segments 107, a left and right body, which mate with one another forming an inner surface and a housing for a tool and/or instrument. As used herein, the terms “left” and “right” are arbitrary terms employed for convenience only. These terms are not intended to convey any preferred orientation, function, or structure, or to suggest any intrinsic difference or similarity between the bodies or tool housing segments of the tool hull, or any other components referred herein as “left” and “right” components. While certain differences may be noted below, these are provided only by way of exemplary embodiments and are not intended to limit the meaning of the terms “left” and “right” as described above. Similarly, terms such as “top” and “back” are provided for convenience only, and are not intended to convey any specific orientation, function, or structure unless explicitly noted to the contrary or otherwise clear from the context.
In one embodiment, the bodies or tool housing segments 107 of the tool hull or housing 100 are identical and symmetrically orientated relative to one another. In a different embodiment, the tool hull 100 consists of two bodies or tool housing segments, which may be asymmetric or different. In further embodiments, the tool hull 100 is fabricated as one solid body consisting of two sides. The tool hull 100 is constructed out of biocompatible materials including but not limited to metals, plastics, ceramics and/or other materials known to those in the art. In some embodiments, the tool hull 100 is constructed of biocompatible metals including but not limited to surgical stainless steel or titanium. In other embodiments, the tool hull 100 is constructed of biocompatible plastics including but not limited to polyvinylchloride (PVC), polyethersulfore (PES), polyetheretherketone (PEEK), polysulfone (PS) or other biocompatible plastics known by those in the field. Furthermore, other embodiments may be constructed of biocompatible ceramics such as aluminum oxide (Al2O3) and/or other biocompatible ceramics known by those in the field.
In one embodiment, the bodies or segments 107 of the tool hull 100 affix to each other by a top support bar 104 and a bottom support bar 105. In some embodiments, the top support bar 104 is affixed to the right body 107 of the tool hull 100 and the bottom support bar is affixed to the left body 107 of the tool hull 100 as illustrated in
In one embodiment, each support bar contains a pin 106 that fits into a corresponding pinhole 101 located on the opposite body of the tool hull 100 as depicted in the embodiments shown in
Additionally, in some embodiments the bodies or segments 107 of the tool hull 100 are also affixed to one another via a fulcrum 108 and nut 123 connection as illustrated in the embodiment shown in
In addition to affixing the bodies of the tool hull 100, the fulcrum 108 also constrains the tool actuation levers 109 in place and prevents the tool hull 100 from experiencing any torsional movements or deflection, while a tool is being utilized. Furthermore, in some embodiments the fulcrum 108 serves as a pivoting point for tools and/or instruments containing a tool actuation lever or levers 109, such as scissors, needle driver or forceps. In some embodiments, the fulcrum 108 is fabricated out of any biocompatible metal that is capable of handling the stress and strain from the actuation of a tool. In other embodiments, the fulcrum 108 is fabricated out of biocompatible plastics capable of handling the stress and strain from the actuation of a tool. In alternative embodiments, the fulcrum 108 is constructed out of biocompatible ceramics such as aluminum oxide (Al2O3) and/or other biocompatible ceramics known by those in the field capable of handling the stress and strain from the actuation of a tool. In addition, in different embodiments the fulcrum 108 can be fabricated in any shape known in the art that is capable of serving as a pivoting point, while being able to handle the strain and stress forces generated by the actuation of a tool and/or instrument.
In other embodiments, the fulcrum 108 is not required. In these embodiments, the tool hull 100 may be fabricated as one solid body, thus relieving any concern of separation. Alternatively, in embodiments where the tool or instrument is a static tool and does not contain a tool actuation lever 109 such as a cautery hook or single blade tool, no fulcrum 108 may be found, as no pivot point is required to actuate and/or utilize the tool. Alternatively, in additional embodiments multiple fulcrums 108 are found, with each tool actuation lever 109 of a tool being operably coupled to a separate and distinct fulcrum 108. In these embodiments, an operator can pivot a tool actuation lever 109 about a fulcrum 108 to a specific orientation without having to pivot the other tool actuation lever 109 to the same orientation, thus providing a tool that has levers that can be actuated independently of the other.
In addition, in some embodiments the device contains a plurality of actuation channels 112 as illustrated in the embodiments shown in
In some embodiments actuation channels 112 are located on both the inner portions of the left and right bodies 107 of a tool hull 100, as well as located on the tool actuation levers 109 as depicted in the embodiments shown in
In other embodiments, only one actuation channel 112 is situated on one of the bodies 107 of the tool hull 100 and only one actuation channel 112 is found in one tool actuation lever 109. In this embodiment, the tool or instrument may contain only one actuated lever, with a first instrument component affixed to the distal end of said actuated lever, and a second instrument component of the tool being rigidly fixed to the tool hull 100. An example of such a tool may include but is not limited to a surgical stapler or a vessel sealer. Furthermore, only one actuator 111 may be found in this embodiment, as only one component of the tool and/or instrument may be capable of moving. In other embodiments, one component of a tool may be moved by an actuator 111 and other moving component of the tool may be mechanically coupled to the first moving component such that only one tool actuation lever 109 is directly coupled to the actuator 111, thus allowing for multiple tool actuation levers 109 to be actuated by one actuator 111. The mechanical coupling may be accomplished via gears, links and/or any other methods known in the art.
Additionally, in alternative embodiments no actuation channels 112 and/or actuators 111 may be found. In some embodiments, the tool and/or instrument may not contain a tool actuation lever 109. In some embodiments, the tool may be rigidly affixed to the tool hull 100 and not capable of moving in any direction, such as a cautery hook or a scalpel.
In one embodiment, a tool contains two tool actuation levers 109. In this embodiment located at one end of the tool actuation levers 109 is an aperture 110 in which the fulcrum 108 passes through, as shown by the illustrative embodiment in
In some embodiments, located on the proximal end of the right and left bodies 107 of the tool hull 100 are tool attachment pins or protrusions (“TAPs”) 102 as depicted in the embodiments shown in
In one embodiment, each body 107 of the tool hull 100 contains two TAPs 102 with one TAP 102 located above the other. In this embodiment, both TAPs 102 are vertically aligned with each other. Additionally, in this embodiment the TAPs 102 are separated by a vertical distance, which is correlated to the vertical distance between the tool attachment pin channel 113 of the first grasper jaw 116 and the tool attachment pin channel 113 of the second grasper jaw 117 (
In addition, in some embodiments, located at the proximal end of each body 107 of the tool hull 100 is a docking tab or first protrusion 103.
In alternative embodiments, docking tabs or first protrusions 103 are eliminated and replaced by magnets, electromagnets, press fits and/or any other method or combination of methods known in the art. In one embodiment that utilizes a magnet or electromagnet in place of a docking tab 103 to connect to the universal grasper 118, the need for TAPs 102 is eliminated, as the force generated by the magnet or electromagnet connection is sufficient to mate the tool hull 100 with the universal grasper 118, and prevent the tool hull from separating from the universal grasper 118, as well as preventing the tool hull 100 from tilting, twisting or deflecting during actuation. In this embodiment, the docking stations 115 consists of a ferromagnetic material or other conductive material with a high permeability, such as iron, or nickel. In alternative embodiments, the docking tabs 103 may be fabricated out of ferromagnetic material and the electromagnet are located on the docking stations 115. In these embodiments, the ferromagnetic material and magnetic material have biocompatible coatings and/or platings, including but not limited to gold plating, rendering the material safe for insertion into a patient's body. However, in some embodiments the docking tabs or first protrusions 103 are not eliminated, but are outfitted with a magnetic contact and the docking stations or openings 115 are outfitted with a corresponding magnetic contact. In these embodiments, the magnetic contact located on the docking tabs 103 mates and contacts with the magnetic contact of the docking stations or opening 115 to constrain a tool hull to a universal grasper.
In an alternative embodiment, docking tabs or first protrusions 103 are capable of conducting an electrical current from the universal grasper 118. This embodiment allows a surgeon to utilize electrified tools such as a cautery tool. In addition, this embodiment also allows for electrical powered tools to be used. In one embodiment, docking tabs 103 are constructed of a biocompatible material capable of conducting and transferring an electrical current or power, such as surgical stainless steel. In this embodiment, the docking tabs 103 are appropriately insolated such that they do not electrically short. In other embodiments, the docking tabs 103 may contain an electrical conductive contact on the proximal end that is capable of conducting electricity from a universal grasper 118. These embodiments allow an electrical current or power to be transferred through the docking tabs 103 to a tool, thus allowing the tool to be electrified. In alternative embodiments, tools may be powered and actuated via the electrical current or power that is transferred through the docking tabs 103. The docking tabs 103 and the electrical conductive contacts on the docking tabs 103 in these embodiments are appropriately electrically isolated such that no electrical short is experienced. In these embodiments, the docking stations 115 detailed below, contain an electrical port which the electrical conductive contact on the docking tabs or first protrusions 103 mates with, allowing an electrical current or power to be transferred from the universal grasper 118 to the tool. In these embodiments, the walls of the docking stations 115 surrounding the electrical ports are fabricated out of electrical insulation materials having a high surface resistivity such as polyimide, PEEK, acrylonitrile butadiene styrene (ABS), rubber and/or any other material with a high surface resistivity known in the art, thus preventing an electrical short from occurring. In some embodiments, the electrical current or power is routed to an electrical port via an insulated wire or conductor, a flexible printed circuit board (“FPCB”) and/or a printed circuit board (“PCB”).
Additionally, in alternative embodiments, the electrical port also acts as a sensor notifying a surgeon and the robotic system when a tool is engaged and/or disengaged. In some embodiments, the surgeon is notified via a PCB and/or FPCB when an electrical contact on a docking tab 103 interfaces with an electrical port. In other embodiments, a sensor is contained on the proximal end of the docking tabs 103 which notifies a surgeon and the robotic system when the docking tabs 103 connect and/or disconnect from the docking station 115. In further embodiments, the docking stations 115 contain a sensor, which notifies a surgeon and the robotic system when a tool is engaged and/or disengaged. A variety of sensors could be used in different embodiments to detect engagement and disengagement of a tool and/or the docking tabs 103, such as encoders, potentiometers, and/or any other sensors known to those in the field.
In alternative embodiments, the electrical port is configured to transmit electrical communication from the robotic arm to the tool, and/or from the tool to the robotic arm. In some embodiments, the electrical communication is transmitted in analog format, while in other embodiments the electrical communication is transmitted in digital format. In other embodiments, electrical contacts located on the jaws of the grasper and electrical contacts on the lever(s) of a tool are used to transmit electrical communications from the robotic arm to a tool or from the tool to the robotic arm. Such electrical communication may contain a variety of information and data including but not limited to, the status of a tool, force sensing data, engagement and disengagement statuses, actuation commands, faults and/or position and orientation information of a tool and/or instrument.
Universal Grasper Design and ComponentsAs mentioned above, the system allows a surgeon or operator to select and interface with and change between different tools and/or instruments. In order for a surgeon to switch between different tools and/or instruments, a surgeon uses the universal grasper 118 to mate and couple with a tool and/or instrument. The universal grasper 118 is located at the distal end of an embodiment of the robotic arm 125 (
In one embodiment, the universal grasper 118 is configured as a cautery tool, allowing a surgeon to perform cautery functions, while also allowing the surgeon to interchange between different tools if he or she desires. In some embodiments where the universal grasper 118 is configured as a cautery tool, the universal grasper 118 uses the monopolar cauterization method, while in alternative embodiments the universal grasper 118 uses the bipolar cauterization method. In embodiments where the universal grasper 118 is configured as a cautery tool the surgeon can activate and deactivate the electrical current or power provided to the universal grasper jaw, thus allowing the grasper jaws to switch between an electrically charged state and an uncharged state.
In some embodiments, the jaw and/or jaw portions of the universal grasper are electrified to allow an electrical current or power to be transferred from the universal grasper to a tool and/or instrument. In some embodiments, the universal grasper 118 is outfitted with electrical wires or conductors that are embedded in the body of the universal grasper 118 as depicted in the illustrative embodiment shown in
As stated above, the electrical wires 136 pass through electrical insulators 135 prior to reaching their respective termination site 137. The electrical insulators 135 insulate the electrical wires 136 preventing an electrical short from occurring and reaching another part of the universal grasper 118. In some embodiments, the electrical insulators 135 are constructed out of thermoplastic polymers such as ABS, PEEK, polyimide, polyethylene. In other embodiments, the electrical insulators 135 are constructed out of thermoplastic elastomers and/or thermoset plastics, including but not limited to Diallyl-phthalate (DAP), high-density polyethylene (HDPE), and/or an ultra-high-molecular-weight polyethylene (UHMWPE). In other embodiments, the electrical insulators 135 have a composite polymer coating making them biocompatible.
In some embodiments, the electrical insulators 135 are situated on top of one another, with the top insulator insulating the electrical wire 136 that is routed to the first grasper jaw 116 and the bottom insulator insulating the electrical wire 136 that is routed to the second grasper jaw 117 (
In some embodiments, each of the electrical insulators 135 are fabricated as two halves, with said halves surrounding the proximal end of the first grasper jaw 116 and the second grasper jaw 117, such that the jaws are insulated and secluded from the other components of the universal grasper, as depicted in the illustrative embodiment shown in
In some embodiments, the electrical insulators 135 are enclosed by an electrical insulator sheathing 138.
In some embodiments, the universal grasper 118 contains a top electrical insulator sheathing 138 and a bottom electrical sheathing 138 with both the bottom and top sheathing containing two halves, one half for both the left and right side of the universal grasper 118, with the corresponding sheathings 138 coupling to each other by a pin connection, as displayed in the illustrative embodiment shown in
In further embodiments, the body of the universal grasper is configured to act as an electrical insulator. In some of these embodiments the body of the universal grasper is constructed out of biocompatible electrically insulated materials known in the art such as thermoplastic polymers including but not limited to ABS, PEEK, polyimide, and/or polyethylene. In other embodiments, the body of the universal grasper is fabricated out of thermoplastic elastomers and/or thermoset plastics, including but not limited to Diallyl-phthalate (DAP), high-density polyethylene (HDPE), and/or an ultra-high-molecular-weight polyethylene (UHMWPE).
Additionally, in some embodiments where a universal grasper 118 is configured to have electrified jaws, such as where the universal grasper 118 is configured as a bipolar cautery tool, an electrically actuated tool can be coupled to the universal grasper 118. In these embodiments an electrical current or electrical power passes through the grasper jaws to the tool, allowing the tool to be actuated.
In further embodiments, where the tool is a static tool, and does not contain an electrical actuator, such as a cautery hook, an electrical wire is routed from the electrical contact directly to instrument of the tool itself, thereby allowing the instrument of the tool to be electrified. In these embodiments, the electrical wire is insulated to prevent an electrical short from occurring. In other embodiments, the electrical wire is removed, as the housing of the tool is constructed of electrical insulation materials having a high surface resistivity, such as polyimide, PEEK, ABS, rubber or any other materials having a high surface resistivity that are known in the art, thus preventing an electrical short from occurring. In these embodiments, the electrified jaws of the universal grasper contact the electrical contact of the tool directly, thereby allowing an electrical current to be transferred to the instrument of the tool directly, without the need for the electrical wire to transfer the electrical current to the instrument. In these embodiments, the instruments are constructed out of electrically conductive materials that are biocompatible, such as surgical steel, aluminum and/or any other biocompatible electrically conductive materials known in the art.
In some embodiments, the universal grasper 118 consists of a first grasper jaw or jaw portion 116 and a second grasper jaw or jaw portion 117. In one embodiment the first grasper jaw 116 and the second grasper jaw 117 move in concert with each other, which in turn causes the tool actuation levers 109 of a tool to move in unison. In an alternative embodiment, the first grasper jaw 116 and the second grasper jaw 117 are capable of moving independently of each other, thus allowing a tool with two tool actuation levers 109 to have independently moving tool actuation levers 109. This embodiment allows a surgeon to more precisely control the actuation of a tool, and provides the surgeon with an added degree of freedom.
In addition, in some embodiments, the jaw of the grasper 118 contains position sensors. In these embodiments, the position sensors are used to accurately measure the position and orientation of the jaws of the grasper. In some embodiments, the first grasper jaw 116 and the second grasper jaw 117 both contain position sensors, which allows the user to know the location of each jaw or jaw portion. In other embodiments, one of either the first grasper jaw 116 and the second grasper jaw 117 contains a position sensor. Additionally, in alternative embodiments, a position sensor is located on the body of the grasper 118. A variety of position sensors may be used in different embodiments, including but not limited to, hall-effect sensors, optical encoders, resistive position sensors, and/or any other standard means of measuring position or combination thereof. In addition, in some embodiments, the jaw or jaw portions of the grasper contain force sensors, as disclosed in International Patent Application No. PCT/US2015/029246. The force sensors detect the force being applied to the levers of a tool by the jaw or jaw portions of the grasper. In some of these embodiments, strain gauges are strategically placed on the grasper housing, while in other embodiments strain gauges are located on the jaw of the grasper. In further embodiments, force sensors may be placed on the lever of a tool. Standard technique may be used to acquire information and calculate the strain and grasper forces.
In some embodiments first grasper jaw or jaw portion 116 and the second grasper jaw or jaw portion 117 each contain engaging surfaces 119, which can take on an abundance of configurations. In one embodiment, the engaging surface 119 is comprised of rigid teeth (
Notwithstanding the configuration of the engaging surface 119 of the universal grasper 118, in some embodiments located on both sides of engaging surface 119 of the jaws are actuation mating surfaces 114 (
In some embodiments located at the proximal end of the first grasper jaw 116 and the second grasper jaw 117 directly behind the actuation mating surfaces 114 on both the right and left side of the engaging surfaces 119 of the jaws are tool attachment pin channels 113 (
As the universal grasper jaws or jaw portions move from an open position to a closed position, the TAPs 102 are forced into the tool attachment pin channel 113 and ride along the distal portion of the channels until the TAPs reach the end of the tool attachment pin channel 113 at which point the universal grasper jaws are in a fully closed position (
As the grasper jaws move from a fully closed position to a fully open position, the TAPs 102 move from the end of the tool attachment pin channel 113 riding along the distal portion of the channel until the TAPs 102 are disengaged from the tool attachment pin channels 113 at which point the universal grasper jaws have reached a fully open position (
The TAP connection prevents separation between the tool hull 100 and the universal grasper 118, as well as provides a retaining force to the docking tabs 103, which constrains the docking tabs 103 in docking station 115. Additionally, this connection provides a surface for the grasper jaws to ride on during actuation, helping to prevent any torsion, or deflection to occur during use.
As mentioned above, in some embodiments located at the distal end of the main body of the universal grasper 118 on both the left and right side of the universal grasper jaws are docking stations 115 (
During mating between the tool hull 100 and the universal grasper 118, the docking tabs 103 of the tool hull 100 are inserted into their respective docking stations 115. This connection prevents any separation between the tool hull 100 and the universal grasper 118. In addition, this connection helps to prevent the tool hull 100 and tool from experiencing tilting, torsion or deflection as well as adds stability to the overall device and system. Moreover, this attachment constrains the tool hull 100 in five degrees of freedom, two translation axes-heave (up/down) and sway (left/right)- and three orientation axes, pitch, roll and yaw. The last and sixth degree of freedom, surge (forward/backward), is constrained by the TAPs.
In other embodiments, a magnetic connection is used to retain the docking tabs 102 in their respective docking stations 115. The magnetic connection in these embodiments constrains the tool hull 100 in all six degrees of freedom. As stated above, in these embodiments the docking tabs 102 are constructed with magnetic or electromagnetic material, and the docking stations 115 are constructed of a conductive material with a high permeability. In alternative embodiments, the docking tabs 103 are retained in the docking stations 115 with the connection fashioned via any standard mechanical attachment method known to those in the field such as a spline, press-fit, snap fit and/or any other existing attachment means that allows for attachment and detachment.
Actuation and AttachmentIn some embodiments, to attach a tool to the universal grasper 118 a surgeon maneuvers the robotic arm in position behind the proximal end of the tool. The universal grasper 118 must have the same orientation as the tool hull 100 of the tool for which the surgeon is to connect with. The universal grasper 118 must be aligned with the tool hull 100 in such a way to ensure that all mating components of the tool hull 100 are parallel to their respective docking components on the universal grasper 118. Thus, a tool is capable of mating with a universal grasper 118 in any orientation as long as the universal grasper 118 is located behind the proximal end of the tool hull 100 and its mating components are aligned with their respective docking components of the universal grasper 118. The universal grasper 118 on the robotic arm disclosed in International Patent Application No. PCT/US2015/029246, is capable of moving in six degrees of freedom, which allows a surgeon to maneuver a universal grasper 118 into a position and orientation that is harmonious with the position and orientation of the tool hull 100.
Prior to attachment the universal grasper jaws are in an open state. The opening of the universal grasper jaws is wide enough to allow the TAPs 102 of a tool hull 100 to move through the opening of the universal grasper jaws and mate with the tool attachment pin channels 113.
Once the tool hull 100 is seated against the universal grasper 118 with the docking tabs 103 situated in the docking stations 115, the TAPs 102 of the tool hull 100 will be situated within the opening of the grasper jaws outside of the tool attachment pin channels 113 as depicted in the embodiments shown in
Once a tool has mated with a universal grasper 118, the surgeon is ready to utilize said tool. In some embodiments, a tool contains two tool actuation levers 109. During actuation, the tool actuation levers 109 slide along actuation mating surfaces 114. In this embodiment, as the universal grasper jaws move towards a closed position, the jaws make contact with the tool actuation levers 109. A force is exerted upon the tool actuation levers 109 when the universal grasper jaws make contact with the levers. The force applied by the universal grasper jaws cause a motion resulting in the tool actuation levers 109 sliding upon the actuation mating surfaces 114. In addition, the force exerted by the universal grasper jaws upon the tool actuation levers 109 causes the levers to pivot about an axis. As the tool actuation levers 109 pivot they slide upon the actuation mating surfaces 114 causing the tool to move between a first and second position, such as an open and closed position.
In one embodiment, a tool is actively actuated when the tool is moving towards a first position, such as a closed position, and passively actuated when moving towards a second position via an actuator 111, such as an open position. In alternative embodiments tools are passively actuated towards a first position and actively actuated towards a second position. Furthermore, in some embodiments a tool contains only one tool actuation lever 109. In such embodiments, the tool can be actuated in the same manner as a tool containing two tool actuation levers 109.
Additionally, in other embodiments tools can be actively actuated towards a first and second position. In one embodiment, both the left and right tool actuation levers 109 are outfitted with an actuation lever nub or projection 133, which is located on the proximal end of the tool actuation levers 109.
In one embodiment, the first grasper jaw 116 and the second grasper jaw 117 of the universal grasper 118 contain actuation lever nub channels or force-open channels 134.
In some embodiments, an actuation lever nub channel 134 is located on the left side of the first grasper jaw 116 and an actuation lever nub channel 134 is located on the right side of the second grasper jaw 117. In this embodiment, an actuation lever nub 133 is located on left tool actuation lever 109 with the actuation lever nub 133 protruding to the right, with a first instrument component affixed to said tool actuation lever 109. In addition, in this embodiment an actuation lever nub 133 is located on the right tool actuation lever 109 with the actuation lever nub 133 protruding to the left, with a second instrument component affixed to said tool actuation lever 109.
In other embodiments, the orientation of the actuation lever nub channels or force-open channels 134 and the orientation of the actuation lever nubs or projections 133 are mirrored. In one embodiment, an actuation lever nub channel 134 is located on the right side of the first grasper jaw 116 and an actuation lever nub channel 134 is located on the left side of the second grasper jaw 117. In this embodiment, an actuation lever nub 133 is located on right tool actuation lever 109 with the actuation lever nub 133 protruding to the left, with a first instrument component affixed to said tool actuation lever 109. Additionally, in this embodiment an actuation lever nub 133 is located on the left tool actuation lever 109 with the actuation lever nub 133 protruding to the right with a second instrument component affixed to said tool actuation lever 109.
In further embodiments only one actuation lever nub channel or force-open channel 134 is found on a universal grasper 118. In one embodiment, an actuation lever nub channel 134 is located on the left side of the first grasper jaw 116 and mates with an actuation lever nub 133 located on the left tool actuation lever 109 of a tool, with a bottom or first instrument component affixed to said lever. In another embodiment, an actuation lever nub channel 134 is located on the left side of the first grasper jaw 116 and mates with an actuation lever nub 133 located on the right tool actuation lever 109 of a tool, with a bottom or first instrument component affixed to said lever. In these embodiments, the top or second instrument component of the tool is static, with the bottom or first instrument component of the tool being affixed to a lever that is actuated.
In additional embodiments only one actuation lever nub channel or force-open channel 134 is found on the second grasper jaw 117 of a universal grasper 118. In one embodiment, an actuation lever nub channel 134 is located on the left side of the second grasper jaw 118 and mates with an actuation lever nub 133 located on the right tool actuation lever 109 of a tool, with a tope or second instrument component affixed to said lever. In another embodiment, an actuation lever nub channel 134 is located on the right side of the second grasper jaw 118 and mates with an actuation lever nub 133 located on the left tool actuation lever 109 of a tool, with a top or second instrument component affixed to said lever. In these embodiments, the bottom or first instrument component of the tool is static, with the top or second instrument component of the tool being affixed to a lever that is actuated.
With the actuation lever nubs 134 located outside of their respective actuation lever nub channels 134, and the tool actuation levers resting on the actuation mating surfaces 114, the tool has been fully mated with the universal grasper 118 and now is ready to be utilized. As the jaws of the universal grasper 118 move from a closed state to an open state, the force retained by the actuator 111 is transferred back upon the tool actuation levers 109 causing the levers to slide upon the actuation mating surfaces 114. As the tool actuation levers 109 slide upon the actuation mating surfaces 114 the force provided by the actuator 111 causes the tool actuation levers 109 to maintain contact with the actuation mating surfaces 114 of the universal grasper 118. As the tool actuation levers 109 slide upon the actuation mating surfaces 114, the actuation lever nubs 133 pass over the top surface of the jaws of the universal grasper 118. The force transferred back upon the tool actuation levers 109 by the actuator 111 allows the actuation lever nubs 133 to maintain a clearance above the actuation lever nub channels 134 so that as the jaws of the universal grasper 118 move from a closed state to an open state the actuation lever nubs 133 pass over the top surface of the jaws of the universal grasper 118 and do not re-enter the actuation lever nub channels 134 while the tool is being actuated. If a resistance force is exerted upon the tool as it is returning to a first position, the top surface of the jaws of the universal grasper 118 will contact the actuation lever nubs or projections 133, and exert a force upon said nubs, causing the nubs to slide upon the top surface of the jaws of the universal grasper 118. Thus, as the universal grasper 118 move towards an open state the force applied on the actuation lever nubs 133 cause said nubs to stay in contact with the universal grasper 118 resulting in the tool being actively actuated to a first position. This actuation motion is shown in sequence in
In order to detach a tool containing tool actuation levers 109 with actuation lever nubs 133, the tool must be orientated in a closed state, thus allowing the actuation lever nubs 133 to be located outside of the actuation lever nub channels 134. In one embodiment, this is accomplished by having the tool engagement mechanism 129 of an introducer 126 clamp on the components of the tool, thus constraining the tool from moving. In an alternative embodiment, the tool is inserted into a storage slot of a tool rack, which constrains the tool from moving. With the tool constrained in a closed position, and the actuation lever nubs 133 located outside of the actuation lever nub channels 134, the jaws of the universal grasper 118 are moved to an open position. As the jaws of the universal grasper 118 move towards an open position the actuation lever nubs 133 pass through and exit the actuation lever nub channels 134. With the jaws of the universal grasper 118 in a fully open state the actuation lever nubs or projections 133 have passed through and exited the actuation lever nub channels or force-open channels 134, the surgeon then either pulls the introducer away from the tool hull or tool housing 100, separating the docking tabs or first protrusions 103 from the docking stations or openings 115 of the universal grasper 118, or pulls the universal grasper 118 away from the tool hull 100, releasing the docking tabs 103 from the docking stations 115.
In alternative embodiments, the coupling between the tool hull 100 and the universal grasper 118 detailed above is inverted. As seen in
In further embodiments, only the docking connection is inverted. In these embodiments, the body of the universal grasper 118 is fabricated to contain docking tabs (not shown) which protrude from both sides of said body, and the tool hull 100 is fabricated to contain ports which are configured to allow the docking tabs from the universal grasper 118 to enter and mate with. In these embodiments, the jaws of the universal grasper 118 contain tool attachment pin channels 113 which are configured to mate with TAPs or second protrusions 102 located on the inner surface of the tool hull 100 as detailed above. In other embodiments, only the pin connection is inverted. In these embodiments, the jaws of the universal grasper 118 are fabricated to contain attachment pins 146 (
In alternative embodiments, the attachment pins 146 of the jaws of the universal grasper 118 are configured to mate with attachment pin channels 147 located on the levers 148 of a tool 152.
In some embodiments, the attachment pins 146 are located on the distal end of the jaws, while in other embodiments the attachment pins 146 are located on the proximal end of the jaws of the universal grasper 118 (
As shown in
As mentioned above, in order for the attachment pins 146 of the jaws of the universal grasper 118 to engage and enter their respective attachment pin channels 147, the tool 152 and the levers 148 of said tool must be in a closed position, as depicted in
During actuation of the tool 152, the actuator 111 of said tool along with the attachment pin channels 147, constrain the attachment pins 146 within said channels. When the universal grasper 118 is coupled to the levers 148 of the tool 152, via the connection detailed above, in order to disengage the attachment pins 146 from the attachment pin channels 147, the tool 152 and the levers 148 of said tool must be in a closed position, which results from the jaws of the universal grasper 118 applying a force upon the levers 148 via the attachment pins 146. With the tool 152 and levers 148 of said tool in a closed position, the tool 152 is constrained in the closed position by clamping down on the distal end of said tool. In some embodiments, the introducer 126 is utilized to clamp the distal end of the tool 152, while in other embodiments the universal grasper 118 of one of the robotic arm 125 is utilized to clamp the tool 152 in a closed position. With the tool 152 clamped in a closed position, the path of the attachment pin channels 147 is aligned with the path of rotation of the jaws of the universal grasper 118 such that as the jaws from the universal grasper 118 move from a closed position towards an open position, the attachment pins 146 of the jaws of the universal grasper 118 traverse through the attachment pin channels 147 and exit said channels, at which point the jaws of the universal grasper 118 are in a fully open state.
In alternative embodiments, the above detailed connection is inverted. As depicted in the illustrative embodiment shown in
In some embodiments, the attachment pins 154 are configured to enter and mate with attachment channels 155 located on the jaws of a universal grasper 218. As depicted in the illustrative embodiment shown in
As depicted in the illustrative embodiment shown in
Similar to the coupling detailed above, in order for the attachment pins 154 of levers 153 to mate and enter their respective attachment pin channels 155 on the jaws of universal grasper 218, the tool 158 and the levers 153 of said tool must be in a closed position, as depicted in
During actuation of tool 158, the jaws of universal grasper 218 transmit a force upon the attachment pins 154 of levers 153, such that said levers rotate about a fulcrum from one position to another. As tool 158 is actuated from one position to another, the actuator 111 of said tool along with the attachment pin channels 155, constrain the attachment pins 154 within said channels. In order to disengage the attachment pins 154 from the attachment pin channels 155, tool 158 and the levers 153 of said tool must be in a closed position, which results from the jaws of the universal grasper 218 applying a force upon levers 153 via the attachment pins 154. With tool 158 and levers 153 of said tool in a closed position, tool 158 is constrained in a closed position by clamping down on the distal end of said tool. In some embodiments, the introducer 126 is utilized to clamp the distal end of the tool 152 in a closed position, while in other embodiments the universal grasper of one of the robotic arm 125 is utilized or other methods detailed below are used to clamp the tool 158 in a closed position. With the tool 158 clamped in a closed position, the path of the attachment pin channels 155 is aligned with the path of rotation of the jaws of the universal grasper 218 such that as the jaws of universal grasper 218 move from a closed position towards an open position, the attachment pins 154 of the levers 153 traverse through the attachment channels 155 of the jaws of the universal grasper 218 and exit said channels, at which point the jaws of the universal grasper 218 are in a fully open state.
In some embodiments, the surgeon can elect to set a maximum opening limit of the universal grasper jaws while a tool is attached. In these embodiments, a surgeon can lock a tool in a specific orientation for an extended period of time and also limit the actuation range of motion of a tool for an extended period of time. Limiting the actuation range of motion of a tool, allows a surgeon to more precisely perform a surgical function in tight quarters, as well as allows a surgeon to elect actuation boundaries for the tool such that the surgeon is unable to move and/or actuate a tool past a desired position. Furthermore, setting maximum open limits of the universal grasper jaws allows a tool to be attached for an extended period of time until a surgeon is ready to disengage the tool. In these embodiments, maximum opening limits of the universal grasper jaws are obtained via various software commands and applications, which at a surgeon's election can be initiated and turned off.
In order for a surgeon to switch between different tools, he or she must first disengage the tool that is attached to a universal grasper. In one embodiment, an introducer 126 is used to disengage a tool or instrument, as well as to attach a new tool or instrument to a universal grasper.
In one embodiment, the introducer contains an introducer handle 126, which is connected to the introducer shaft 128 with a tool engagement mechanism 129 located at the end of the shaft distal to the introducer handle 126 (
In one embodiment, the tool engagement mechanism 129 is fabricated as one piece having two sides with an opening between the sides so to allow a tool to be engaged and disengaged.
In an alternative embodiment, the tool engagement mechanism 129 contains two sides that are mechanically coupled to each other so that the sides of the tool engagement mechanism 129 expand and contract in unison, creating a clamping motion. In these embodiments, no engagement tip 130 is found. In some embodiments, the sides of the tool engagement mechanism 129 are coupled to each other via linkage members, which couple to two linkage members that are coupled to the actuation rod 131, creating a four-bar linkage mechanism. In these embodiments, as the actuation rod 131 traverses distally, the sides of the tool engagement mechanism 129 spread apart creating an opening for a tool to be attached. When the actuation rod 131 traverses proximally in the introducer shaft 128 the sides of the tool engagement mechanism 129 move closer to each other creating a clamping motion, thus retaining said tool. In some embodiments, the linkage members are coupled to each other via pins. In other embodiments, the linkage members are coupled to each other via any standard attachment method known to those in the field such as a press-fit, rod and bolt, or any other existing attachment method. In some embodiments, the linkage members are replaced with pulleys and cables. In other embodiments one side of the tool engagement mechanism 129 is static with the other side of the tool engagement mechanism 129 being actuated to create a clamping motion. In further embodiments both sides of the engagement mechanism 129 move independently of each other.
As stated above, in one embodiment the introducer shaft 128 is rigid. In this embodiment located at the proximal end of the introducer handle 127 is an actuation button 132, which contains a spring.
In some embodiments, located at the distal end of the introducer shaft 128 but proximal to the tool engagement mechanism 129 is an engagement tip 130, with the interior of the engagement tip 130 being tapered.
When the actuation button 132 is released, the spring decompresses resulting in the actuation rod 131 traversing proximally up the introducer shaft 128, which results in the proximal end of the tool engagement mechanism 129 to return inside the engagement tip 130. As the tool engagement mechanism 129 returns back inside the engagement tip 130, a force is applied on the sides of the tool engagement mechanism 129 due to the tapered interior of the engagement tip 130. The force applied on the sides of the tool engagement mechanism 129 causes the tool engagement mechanism 129 to close and clamp around a tool, thus retaining said tool.
In alternative embodiments, the introducer shaft 128 contains a flexible portion that is located distal to the introducer handle 127 but proximal to the engagement tip 130. In these embodiments, a surgeon is able to actively flex and position the distal end of the introducer shaft 128 to allow for ease of interchanging a tool. In some embodiments tension cables are routed through lumens located on the interior of the introducer shaft 128, which couple to the distal end of the flexible portion of the introducer shaft 128. In other embodiments, tension cables are routed through lumens located on the exterior of the introducer shaft 128. In these embodiments, the tension cables are coupled to a tension mechanism that tension the tension cables causing the flexible portion of the introducer shaft 128 to flex and bend. In some embodiments, multiple tension cables are used to allow the surgeon to flex and bend the distal end of the introducer shaft 128 in numerous directions and positions. A variety of tension mechanisms can be used in different embodiments, including but not limited to pulleys, ratchets, capstans, gear trains, motors and/or other tensioning methods and combination of tensioning methods known in the field. In some embodiments, the tensioning mechanism has a locking system that allows a surgeon to keep the cables tensioned for an extended period of time. The locking system allows the surgeon to keep the introducer shaft 128 flexed in a desired position and orientation for an extended period of time.
In other embodiments only one tension cable is used to flex the distal end of the introducer shaft 128. In this embodiment, the introducer handle 127 contains a wheel, which is coupled to the introducer shaft 128 that allows the entire shaft to rotate when the surgeon rotates the wheel. This embodiment allows the surgeon to maneuver and position the tool engagement mechanism 129 to a desired orientation and location.
In some embodiments, the flexible portion of the introducer shaft 128 is constructed out of a flexible conduit. In these embodiments, the flexible conduit is fabricated out of biocompatible materials known in the art, including but not limited to biocompatible metals, biocompatible plastics, and/or biocompatible ceramics. The biocompatible materials are configured so as to allow the introducer shaft 128 to flex and bend and also return to its initial configuration.
In one embodiment, the tool engagement mechanism 129 is configured to fit around the distal end of a tool and clamp onto the tool hull 100 of a tool or instrument, thus rigidly affixing the tool hull 100 to the introducer 126 as depicted in the illustrative embodiment shown in
In an embodiment where a tool engagement mechanism 129 is firmly clamped on a tool hull 100, the surgeon moves the universal grasper jaws into a fully open state. As the universal grasper jaws move towards a fully open state, the TAPs 102 are released from the tool attachment pin channels 113. With the TAPs 102 no longer in the tool attachment pin channels 113, the tool hull 100 is only attached to the universal grasper 118 via the docking tabs 102. In order to remove the docking tabs 103 from the docking stations 115 the surgeon either pulls the introducer 126 away from the universal grasper 118, or maneuvers the universal grasper 118 away from the tool hull 100, thus separating the docking tabs 103 from the docking stations 115. With the tool disengaged from the universal grasper, the introducer 126 is removed from patient's body through the trocar. The surgeon is then free to remove the tool from the introducer 126, attach a new tool to the introducer 126 and insert the introducer 126 back in to the patient's body, thus allowing the universal grasper 118 to mate with the new tool. In other embodiments, the tool engagement mechanism 129 may fashion to a tool via any standard attachment method known to those in the field such as magnet connection, press-fit or any other existing attachment techniques.
In an alternative embodiment, a tool rack is inserted into the patient's body and used to store and hold tools when not in use. The tool rack is inserted into the patient through a trocar and temporarily attached to the interior body cavity of the patient by means of support. The support may be string, pins, adhesive, magnets or any other appropriate attachment means known in the field.
In a different embodiment, the tool rack may be externally supported. In one embodiment, the tool rack may contain a support shaft, which is affixed to the tool rack. The tool rack will be inserted in to the patient's body through a trocar, with the support shaft traversing through the trocar outside the patient's body where it is attached to a rigid structure. The support shaft can have a variety of shapes and sizes, which allow it to traverse through a trocar. In different embodiments, the support shaft may be substituted for a cable or wire, thus allowing it traverse through narrower spaces.
In an alternative embodiment, the tool rack may be magnetized allowing it to be externally supported via magnets situated outside of a patient's body. In this embodiment, the tool rack will be constructed of a biocompatible magnetic material, and will couple with magnets located outside of the patient's body and firmly pressed against a cavity wall, thus giving the appearance of a free-floating structure. In some embodiments, the tool rack will also contain a detachable support shaft for insertion and removal from the body.
In one embodiment, the tool rack is constructed as one row with means to hold a plurality of tools. Appropriate means may include magnets, clamps, clips or any other appropriate attachment means known in the field. In one embodiment, the tool rack contains storage slots for each individual tool. The storage slots contain a coupling mechanism that couples with a tool, allowing the tool to disengage from a universal grasper. Additionally, the coupling mechanism also allows for a universal grasper to engage a tool that is held in a storage slot. This allows a surgeon to interchange between a suite of tools with ease, as the surgeon can store and dock idle tools on the rack when not in use and engage a new tool from the rack at his or her convenience.
In a different embodiment, the tool rack is constructed as a set of rows attached to each other. The rows are collapsible to allow the rack to fit through a trocar. The rows are equipped with means to hold a plurality of tools. Appropriate means may include magnets, clamps, clips or any other appropriate attachment means known in the field. In addition, in an alternative embodiment, the rows may be equipped with storage slots containing a coupling mechanism that allows a tool to engage and disengage from the storage slot. In some embodiments, the tool rack is configured to be able to fit through the same trocar as the robotic device. In alternative embodiments, the tool rack may be inserted through a separate trocar.
Additionally, in some embodiments the tool rack may be outfitted with an irrigation system that allows for the removal of body tissue or any material that may inhibit a tool from disengaging or engaging with a universal grasper. The irrigation system would release an appropriate amount of water to remove any particles or materials at a surgeon's command. In an alternative embodiment, a brush or other tool with bristles would be attached to a tool rack, which would allow a surgeon to remove any unwanted particles or materials from the device. Other means and methods may be utilized to clean a tool or instrument, such as removing the tool from the patient's body with an introducer and manually cleaning the tool or instrument, or other known practices in the field including but not limited to, using a suction system.
In addition, in one embodiment, one of the robotic arms can be outfitted with a brush tool or other refuse removal tool or instrument. In this embodiment, the surgeon uses one robotic arm to clean the other. The surgeon maneuvers a robotic arm equipped with a brush tool or other refuse removal tool or instrument to a position and orientation that allows the surgeon to expel any materials that may interfere with the use, engagement or disengagement of a tool. Additionally, this embodiment also allows a surgeon to expel any materials or items that may be entangled or captured in the docking system of a tool rack.
In other embodiments, a disengagement tool 144 is attached to a universal grasper to engage and disengage tools.
In other embodiments, the clamping members 145 of the disengagement tool 144 are configured to fit around the tool hull 100 of a tool 124. In these embodiments, the clamping members 145 clamp around a tool hull 100 of a tool 124, constraining the tool hull 100 from moving, and thus allowing the tool 124 to be disengaged from the universal grasper 118. In addition to disengaging tools, the disengagement tool 144 can also be utilized to attach a tool 124 to a universal grasper 118 so that said tool can be utilized.
In an alternative embodiment, the jaws or jaw portions of a universal grasper are configured to disengage and/or engage a tool and/or instrument. In this embodiment, a surgeon uses the universal grasper of one robotic arm to disengage a tool attached to the universal grasper of the other robotic arm. In this embodiment, the tool is disengaged from a universal grasper utilizing the same technique detailed above. In one embodiment, the jaws of the universal grasper are configured to fit and clamp around a tool hull 100 of a tool and/or instrument, thus constraining the tool hull 100 from moving, allowing said tool to be disengaged. In another embodiment, the jaws of the universal grasper are configured to fit around and clamp the components of a tool, thus constraining the tool from being actuated, and allowing said tool to be disengaged.
Tools—Different ToolsAs mentioned above, a surgeon uses a variety of different tools during an operation. In order for a surgeon to have the capacity necessary perform a vast range of different types of surgery, a multitude of tools is required. The Virtual Reality Tool System has satisfied this need by developing a suite of tools that can be utilized with the Virtual Reality Surgical Device. A suite of tools can contain a wide range of tools that a surgeon can customize and switch out based on the type of tools needed to perform a specific operation. A suite of tools can consist of static tools, actuated tools, electrified tools and/or a combination of all three. The tools can be configured in variety of sizes, thus allowing the tools to be inserted through different sized trocars.
Static tools are tools, which contain no moving components and are instead rigidly fixed to a tool hull or housing 100. An example of some static tools that could be found in a tool suite, include but are not limited to, cautery hooks, scalpels, cautery pens, surgical probes, and/or biopsy punches. Actuated tools are tools that contain moving components actuated lever(s) and actuator(s). Some examples of actuated tools that may be found in a tool suite, include but are not limited to surgical scissors, needle drivers, forceps, graspers, retractors, staplers, vessel sealers, surgical drills and/or calipers. Electrified tools are tools that contain electrical current, such as a cautery grasper, or tools that are electrically actuated such as a drill.
In one embodiment, the blades 122 can be actuated in unison and in other embodiments the blades 122 can be actuated independently of each other. In an alternative embodiment, only one blade 122 may be affixed to a tool actuation lever 109 allowing that blade 122 to be actuated and with the other blade 122 being rigidly affixed to the tool hull 100.
In one embodiment, the blades 122 are constructed with a beveled edge. The angle of the bevel may vary in embodiments, with a lower bevel angle providing the surgeon with a sharper edge for more precise incisions and a larger bevel angle providing the surgeon with a more durable edge for larger incisions. Additionally, in other embodiments a scissor tool is constructed to configure different types of surgical scissors including but not limited to iris scissors, blunt-sharp scissors, suture scissors, corneal scissors, or any other type of scissor known or used in the medical field.
In one embodiment, each needle driver-clamping jaw 120 is affixed to a tool actuation lever 109 as depicted in the exemplary embodiment shown in
Additionally, in different embodiments tools can take on a variety of configurations, with some embodiments of tools having tool hulls, while other embodiments of tools may comprise levers with attachment appendages, as detailed above.
Claims
1. A robotic subsystem, comprising:
- a) at least one robotic arm having a tool grasper at a distal end thereof;
- b) a plurality of end effectors; and
- c) a tool rack stored within a patient during a surgical procedure and in which the end effectors are housed;
- wherein the tool rack is formed to be inserted through a trocar; and
- wherein the tool grasper engages with the plurality of end effectors to decouple the end effectors from the tool rack; and disengages from the plurality of end effectors to couple the plurality of end effectors to the tool rack.
2. The robotic subsystem of claim 1, wherein a hull of each end effector is constrained relative to the tool grasper when engaged therewith.
3. The robotic subsystem of claim 2, wherein the tool grasper includes attachments pins that engage with channels formed in a hull of each end effector.
4. The robotic subsystem of claim 2, wherein attachment pins are formed on jaws of the tool grasper and wherein the attachments pins engage with pin channels formed on levers of each end effector.
5. The robotic subsystem of claim 4, wherein the attachments pins are disposed on a distal end or a proximal end of the jaws of the tool grasper.
6. The robotic subsystem of claim 1, wherein the end effectors are needle drivers, forceps, graspers, retractors, surgical staplers, vessel sealers, cautery pins, calipers, scissors, or a combination thereof.
7. The robotic subsystem of claim 6, wherein the end effectors are a combination of a grasper and scissors.
8. The robotic subsystem of claim 1, wherein the tool rack is temporarily attached to an interior body cavity of the patient.
9. The robotic subsystem of claim 1, wherein the tool rack is attached to a support shaft that traverses through the trocar to outside the patient.
10. The robotic subsystem of claim 1, wherein the tool rack is formed of a biocompatible magnetic material and is externally supported by magnets disposed outside the patient.
11. The robotic subsystem of claim 1, wherein the tool rack includes a plurality of coupling mechanisms that couple with the end effectors to provide engagement of the tool grasper and the end effectors.
12. The robotic subsystem of claim 11, wherein the coupling mechanisms are housed in storage slots of the tool rack.
13. The robotic subsystem of claim 1, wherein the tool rack is formed with a plurality of collapsible rows for insertion through the trocar.
14. The robotic subsystem of claim 1, further comprising an introducer configured to engage and disengage the end effectors and the tool grasper, wherein the introducer includes a tool engagement mechanism configured to grasp the end effectors attached to the tool grasper to disengage the end effectors from the tool grasper.
15. The robotic subsystem of claim 14, wherein the introducer is inserted separately through the trocar.
16. The robotic subsystem of claim 1, wherein the tool rack includes a cleaning system for removal of material inhibiting engagement or disengagement of the end effectors to the tool grasper.
17. The robotic subsystem of claim 16, wherein the cleaning system is an irrigation system, a suction system, a brush tool, or a combination thereof.
18. A method of exchanging tools of a robotic subsystem, comprising:
- a) inserting at least one robotic arm through a trocar into a patient, wherein the at least one robotic arm includes a tool grasper at a distal end thereof;
- b) inserting a tool rack through the trocar into the patient, wherein a plurality of end effectors are coupled to the tool rack; and
- c) operating the at least one robotic arm to engage the tool grasper with a first of the plurality of end effectors coupled to the tool rack.
19. The method of claim 18, further comprising:
- a) maneuvering the at least one robotic arm toward the tool rack to re-engage the first end effector with the tool rack; and
- b) engaging the tool grasper with a second end effector of the plurality of end effectors coupled to the tool rack.
20. The method of claim 19, wherein the tool rack is stored within the patient during a surgical procedure.
Type: Application
Filed: Mar 11, 2022
Publication Date: Aug 11, 2022
Inventors: Daniel WANG (Cambridge, MA), Sammy KHALIFA (Medford, MA), Adam David SACHS (Cambridge, MA)
Application Number: 17/693,246
