Rotatable carriage for an instrument holder

An instrument holder generally includes a carriage rotatable with respect to a carriage support, a light pipe extending axially through the carriage, and an electrical conductor extending through the carriage radially outward of the light pipe. The light pipe can transmit light energy and the electrical conductor can transmit electricity between a proximal end portion and a distal end portion of the carriage to a medical instrument. The rotatable carriage may include a sterile adapter assembly positioned at the proximal and/or distal end portions of the rotatable carriage. The sterile adapter assembly may include a roll disk rotatable with respect to the outer frame, an inner disk rotatable with respect to the roll disk, and a light pipe to transmit light energy through the roll disk. The inner disk can transfer movement of an actuator between the rotatable carriage and the instrument.

TECHNICAL FIELD

Aspects of the present disclosure generally relate to devices and methods for performing a computer-assisted teleoperated procedure and, more specifically, to devices for transferring degrees of freedom to a tool.

BACKGROUND

Minimally invasive medical techniques are intended to reduce an amount of tissue that is damaged during medical procedures, thereby reducing patient recovery time, discomfort, and harmful side effects. Such minimally invasive techniques may be performed through natural orifices in a patient anatomy or through one or more surgical incisions. An operator (e.g., a physician) may insert minimally invasive medical instruments (surgical, diagnostic, therapeutic, biopsy instruments, etc.) through these natural orifices or incisions to reach a target tissue location. Robotic medical systems allow a user to control such medical instruments via a manipulator to which the instrument is mounted. One such minimally invasive technique is to move one or more instruments to a region of interest within the patient anatomy to perform a medical procedure. Control of such a manipulator assembly by an operator involves the management of several degrees of freedom including at least the management of insertion, retraction, and roll of the instrument with respect to the patient anatomy, as well as articulation of an instrument end effector.

Minimally invasive telesurgical systems allow a surgeon to operate on a patient from a remote location. Telesurgery is a general term for surgical systems where the surgeon uses some form of remote control, e.g., a servomechanism, or the like, to manipulate surgical instrument movements rather than directly holding and moving the instruments by hand. In such a telesurgery system, the surgeon is provided with an image of the surgical site at the remote location. While viewing typically a three-dimensional image of the surgical site on a suitable viewer or display, the surgeon performs the surgical procedures on the patient by manipulating master control input devices, which in turn control the motion of robotic instruments.

Communication signals may be transmitted between components of a robotic medical system using various cables, including optical fibers, coaxial conductors, copper conductors, twisted wire pairs, etc. When using such communication cables on articulating medical instruments, it is desirable to reduce stress and friction on the internal components of the cable to extend the cable life. Twisting a wrapped cable can impart an unwrap torque, causing a tensile load on the inner wrap and/or core of the cable and significantly reduce cable life. Loading of the cable and articulation of the end effector can further contribute to the unwrap torque. Internal friction of the cable at different twisted states can adversely affect the consistency of movement of the medical instrument during use.

SUMMARY

In accordance with embodiments of the present disclosure, an apparatus is provided. The apparatus generally includes a carriage rotatable with respect to a carriage support, a light pipe extending axially through the carriage and configured to transmit light energy between a proximal end portion and a distal end portion of the carriage, and electrical conductors extending through the carriage radially outward of the light pipe. The electrical conductors of the apparatus may be configured to transmit electricity between the proximal end portion and the distal end portion of the carriage.

In accordance with embodiments of the present disclosure, a sterile adapter assembly configured for use with a rotatable carriage is provided. The sterile adapter assembly generally includes in instrument holder base member with a longitudinally slidable carriage and a sterile adapter. The sterile adapter generally includes a fixed frame couplable to the slidable carriage, a roll disk positioned within the frame and rotatable with respect to the frame, an inner disk positioned within the roll disk and rotatable with respect to the roll disk, and a light pipe positioned in the roll disk that may be configured to transmit light energy through the roll disk. The inner disk may be further configured to transfer movement of an actuator.

In accordance with any of the embodiments disclosed herein, the apparatus may further include an alignment projection extending outwardly from one of the distal end portion of the carriage and the proximal end portion of the medical instrument, and an alignment recess extending into the other of the distal end portion of the carriage and the proximal end portion of the medical instrument. The alignment projection may have a shape corresponding to a shape of the alignment recess to bring the carriage and the medical instrument into alignment in a lateral direction.

In accordance with any of the embodiments disclosed herein, the apparatus may further include a clocking projection extending outwardly from the alignment projection, and a clocking recess extending into the alignment recess. The clocking projection may have a shape corresponding to a shape of the clocking recess to orient the medical instrument and the carriage into a clocked position.

In accordance with any of the embodiments disclosed herein, the inner disk may further include a plurality of separate, non-overlapping disks positioned at different points on the roll disk and may be configured to transfer movement of a plurality of actuators.

In accordance with any of the embodiments disclosed herein, the inner disk may be a first inner disk, and the sterile adapter may further include a second inner disk positioned within the first inner disk and configured to transfer the movement of an actuator. The light pipe may be positioned on the second inner disk.

In accordance with any of the embodiments disclosed herein, the sterile adapter assembly may further include an alignment projection extending outwardly from one of the slidable carriage and the sterile adapter, and an alignment recess extending into the other of the slidable carriage and the sterile adapter. The alignment projection may have a shape corresponding to a shape of the alignment recess to bring the slidable carriage and the sterile adapter into alignment.

In accordance with any of the embodiments disclosed herein, the sterile adapter assembly may further include a clocking projection extending outwardly from the alignment projection, and a clocking recess extending into the alignment recess. The clocking projection may have a shape corresponding to a shape of the clocking recess to orient a medical instrument and the carriage into a clocked position.

In accordance with any of the embodiments disclosed herein, the apparatus may further include a drape coupled to a distal or proximal sterile adapter and configured to maintain a sterile barrier during a surgical procedure.

In accordance with any of the embodiments disclosed herein, the sterile adapter may further include a catch projecting axially away from the distal end portion of the carriage. The catch may have a catch protrusion configured to limit the axial separation distance of the instrument from the carriage.

In accordance with any of the embodiments disclosed herein, the proximal sterile adapter may be positioned at the proximal end portion of the carriage. The proximal sterile adapter may be configured to transmit mechanical movement, light energy, and/or electricity between a connector and the carriage.

In the specification, it should be appreciated that like reference numerals are used to identify like elements illustrated in one or more of the figures for purposes of illustrating embodiments of the present disclosure and not for purposes of limiting the same.

DETAILED DESCRIPTION

The present disclosure generally relates to an instrument holder for a robotic medical system, the instrument holder having a rotatable carriage for carrying a medical instrument. The systems described herein are designed to extend instrument cable life by rotating the rotatable carriage to roll the medical instrument, rather than rotating the shaft of the instrument relative to other components of the instrument. Various medical systems may include communication cables on one or more modular medical instruments. Embodiments of the present disclosure reduce stress and friction on the internal components of the instrument and instrument cable to extend the cable life. Using a rotatable carriage to roll the medical instrument can minimize unwrap torque on the instrument cable, reducing tensile load on the inner wrap and/or core of the cable. By rolling the rotatable carriage, the internal loading of the cable is essentially uniform. Additionally, the cable tension is more consistent, making the drivetrain friction more consistent such that movement of the medical instrument during use can be more precise. During installation and removal of the medical instrument to and from the rotatable carriage, it may be desirable to limit the insertion of the medical instrument through the cannula, as unintended and/or excessive insertion can cause injury to the patient and/or damage to the equipment of the system. It may be further desirable to align and clock the medical instrument with respect to the rotatable carriage during installation.

The present disclosure describes various instruments and portions of instruments in terms of their state in three-dimensional space. As used herein, the term position refers to the location of an object or a portion of an object in a three-dimensional space (e.g., three degrees of translational freedom along Cartesian X-, Y-, and Z-coordinates). As used herein, the term orientation refers to the rotational placement of an object or a portion of an object (e.g., three degrees of rotational freedom, such as roll, pitch, and yaw). As used herein, the term pose refers to the position of an object or a portion of an object in at least one degree of translational freedom and to the orientation of that object or portion of the object in at least one degree of rotational freedom (e.g., up to six total degrees of freedom). As used herein, the term shape refers to a set of poses, positions, or orientations measured along an object. Further, as used herein, the term “distal” means a location closer to a surgical site and the term “proximal” means a location farther away from the surgical site, unless otherwise indicated.

FIG.1Ais a simplified diagram of a medical system100(“system100”). In some embodiments, the system100may be suitable for use in, for example, surgical, teleoperated surgical, diagnostic, therapeutic, or biopsy procedures. While some embodiments are provided herein with respect to such procedures, any reference to medical or surgical instruments and medical or surgical methods is intended as non-limiting. The systems, instruments, and methods described herein may be used for animals, human cadavers, animal cadavers, portions of human or animal anatomy, non-surgical diagnosis, as well as for industrial systems and general robotic, general teleoperational, or robotic medical systems. For example, the systems and methods described herein may be used for non-medical purposes including industrial uses, general robotic uses, and sensing or manipulating non-tissue work pieces. Other example applications involve cosmetic improvements, imaging of human or animal anatomy, gathering data from human or animal anatomy, and training medical or non-medical personnel. Additional example applications include use for procedures on tissue removed from human or animal anatomies (without return to a human or animal anatomy), and performing procedures on human or animal cadavers. Further, these techniques can also be used for surgical and nonsurgical medical treatment or diagnosis procedures.

As shown inFIG.1A, the system100generally includes a plurality of manipulator assemblies102(having one or more drive elements). Although three manipulator assemblies102are illustrated in the embodiment ofFIG.1A, in other embodiments, more or fewer manipulator assemblies may be used. The exact number of manipulator assemblies will depend on the medical procedure and the space constraints within the operating room, among other factors. Multiple user control systems106may be co-located or they may be positioned in separate locations. Multiple user control systems106allow more than one operator to control one or more teleoperated manipulator assemblies in various combinations.

The manipulator assembly102is used to operate a medical instrument104(e.g., a surgical instrument or an image capturing device) in performing various procedures on a patient P. The medical instrument104may be sterile prior to being used in the various procedures. The manipulator assembly102may be teleoperated, non-teleoperated, or a hybrid teleoperated and non-teleoperated assembly with select degrees of freedom of motion that may be motorized and/or teleoperated, and select degrees of freedom of motion that may be non-motorized and/or non-teleoperated. In some embodiments, the manipulator assembly102may be mounted near an operating or surgical table T, or the manipulator assembly102may be mounted directly to the table T or to a rail coupled to the table T. In various other embodiments, the manipulator assembly102may be mounted to a manipulating system (e.g., a patient-side cart). The manipulating system may be separate from and spaced from the table T in the operating room and may be independently movable relative to the table T.

The manipulator assembly102may be mounted to a ceiling, floor, and/or wall of the operating room. In embodiments in which a plurality of manipulator assemblies102are employed, one or more of the manipulator assemblies102may support surgical instruments, and another of the manipulator assemblies may support an image capturing device such as a monoscopic or stereoscopic endoscope. In such embodiments, one or more of the manipulator assemblies102may be mounted to any structure or in any manner as described above. For example, one manipulator assembly102may be mounted to the table T and another manipulator assembly102may be mounted to a manipulating system.

A user control system106allows an operator (e.g., a surgeon or other clinician, as illustrated inFIG.1A) to view the interventional site and to control the manipulator assembly102. In some examples, the user control system106is a surgeon console, which can be located in the same room as the operating or surgical table T, such as at the side of a table on which the patient P is located. However, the operator O can be located in a different room or a completely different building from patient P. The user control system106generally includes one or more input devices for controlling the manipulator assembly102. The input devices may include any number of a variety of devices, such as joysticks, trackballs, data gloves, trigger-guns, hand-operated controllers, voice recognition devices, body motion or presence sensors, and/or the like. The input devices may be provided with the same degrees of freedom as the associated medical instrument104to provide the operator O a strong sense of directly controlling the medical instrument104. In this regard, the input devices may provide the operator O with telepresence: the perception that the input devices are integral with medical instrument104.

The input devices may have more or fewer degrees of freedom than the associated medical instrument104and still provide the operator O with telepresence. The input devices may optionally be manual input devices that move with six degrees of freedom, and may also include an actuatable handle for actuating instruments (for example, for closing grasping jaws, applying an electrical potential to an electrode, delivering a medicinal treatment, etc.).

The manipulator assembly102may support the medical instrument104and may include a kinematic structure of one or more non-servo controlled links (e.g., a manipulator support structure having one or more links that are manually positioned and locked in place), and/or one or more servo controlled links (e.g., one or more links that are controlled in response to commands from a control system), and an instrument holder. The manipulator assembly102may optionally include a plurality of actuators or motors that drive inputs on the medical instrument104in response to commands from the control system (e.g., a control system110). The actuators may optionally include drive systems that when coupled to the medical instrument104may advance the medical instrument104into a naturally or surgically created anatomic orifice.

Other drive systems may move the distal end of the medical instrument104in multiple degrees of freedom, which can include three degrees of linear motion (e.g., linear motion along the X, Y, Z Cartesian axes), and three degrees of rotational motion (e.g., rotation about the X, Y, Z Cartesian axes). Additionally, the actuators can be used to actuate an articulable end effector of the medical instrument104, e.g., for grasping tissue in the jaws of a biopsy device. Actuator position sensors such as resolvers, encoders, potentiometers, and other mechanisms may provide sensor data to the system100describing the rotation and orientation of the shafts of the actuator. Such position sensor data may be used to determine motion of the objects manipulated by the actuators. The manipulator assembly102may position its held instrument such that a pivot point occurs at the entry aperture into the patient. The manipulator assembly102may then manipulate its held instrument so that the instrument may be pivoted about the pivot point, inserted into and retracted out of the entry aperture, and/or rotated about its shaft axis.

The system100may also include a display system108for displaying an image or representation of the surgical site and the medical instrument104. The display system108and the user control system106may be oriented so the operator O can control the medical instrument104and the user control system106with the perception of telepresence. The medical instrument104may include a visualization system, which may include a viewing scope assembly that records a concurrent or real-time image of a surgical site and provides the image to the operator O and/or other operators or personnel through one or more displays of the system100, such as one or more displays of the display system108. The concurrent image may be, for example, a two- or three-dimensional image captured by an endoscope positioned within the surgical site. The visualization system may be implemented as hardware, firmware, software, or a combination thereof that interact with or are otherwise executed by one or more computer processors that may include the processors of the control system110. The display system108may present images of a surgical site recorded pre-operatively or intra-operatively using image data from imaging technology such as, computed tomography (CT), magnetic resonance imaging (MRI), fluoroscopy, thermography, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, and/or the like. The pre-operative or intra-operative image data may be presented as two-dimensional, three-dimensional, or four-dimensional (including, e.g., time-based or velocity-based information) images, and/or as images from models created from the pre-operative or intra-operative image data sets.

The system100may also include the control system110. The control system110may include at least one memory (not shown) and at least one computer processor (not shown) for effecting control between the medical instrument104, the user control system106, and the display system108. The control system110also includes programmed instructions (e.g., a non-transitory machine-readable medium storing the instructions) to implement some or all the methods described in accordance with aspects of the present disclosure disclosed herein, including instructions for providing information to the display system108. While the control system110is shown as a single block in the simplified schematic ofFIG.1A, the system may include two or more data processing circuits with one portion of the processing optionally being performed on or adjacent to the manipulator assembly102, another portion of the processing being performed at the user control system106, etc. The processors of the control system110may execute instructions comprising instruction corresponding to processes disclosed herein and described in more detail below. Any of a wide variety of centralized or distributed data processing architectures may be employed. Similarly, the programmed instructions may be implemented as a number of separate programs or subroutines, or they may be integrated into a number of other aspects of the robotic medical systems described herein. In one embodiment, the control system110supports wireless communication protocols such as Bluetooth, IrDA, HomeRF, IEEE 802.11, DECT, and Wireless Telemetry.

Movement of the manipulator assembly102may be controlled by the control system110such that a shaft or intermediate portion of instruments mounted to the manipulator assemblies102are constrained to safe motions through minimally invasive surgical access sites or other apertures. Such motion may include, for example, axial insertion of a shaft through an aperture site, rotation of the shaft about its axis, and pivotal motion of the shaft about a pivot point adjacent the access site. In some cases, the risk of excessive lateral motion of the shaft that might potentially cause hazardous forces on the tissues adjacent the aperture or enlarge the access site inadvertently is inhibited. Some or all of such constraint on the motions of the manipulator assemblies102at the access sites may be imposed using mechanical manipulator joint linkages that inhibit improper motions, or may in part or in full be imposed using data processing and control techniques. In some embodiments, the control system110may receive force and/or torque feedback from the medical instrument104. Responsive to the feedback, the control system110may transmit signals to the user control system106. In some examples, the control system110may transmit signals instructing one or more actuators of the manipulator assembly102to move the medical instrument104.

FIG.1Bis a perspective view of one embodiment of a manipulating system121configured in the form of a cart that is located near the patient during a medical procedure. The teleoperational assembly ofFIG.1Bmay also be referred to as a patient side cart. The manipulating system121generally allows manipulation of three medical instruments132a,132b,132c(e.g., the medical instrument104ofFIG.1A), and a medical tool134that may include an imaging device, such as a stereoscopic endoscope used for the capture of images of the work piece or of the site of the procedure (a “work site”). The medical tool134may transmit signals over a cable136to a control system (e.g., the control system110ofFIG.1A). Manipulation may be provided by robotic manipulators126having a number of links that are coupled together and manipulated through joints and a manipulator arm portion130. The medical instruments132a,132b, and132c, and the medical tool134can be positioned and manipulated through natural orifices or incisions in the patient so that a kinematic remote center is maintained at the incisions or natural orifices. Images of the work site can include images of the distal ends of the medical instruments132a,132b, and132cwhen they are positioned within the field-of-view of the medical tool134.

The manipulating system121may include a drivable base122connected to a telescoping column124, and one or more manipulator assemblies126. The manipulator assemblies126may include a rotating joint128that both rotates and translates parallel to the column124. The manipulator assemblies126may be connected to an orienting platform129a. The orienting platform129amay be capable of 360 degrees of rotation. The manipulating system121may also include a telescoping horizontal cantilever129bfor moving the orienting platform129ain a horizontal direction.

In the illustrated embodiment, each of the manipulator assemblies126includes a manipulator arm portion130that may connect directly to the medical instruments132a,132b, and132cand/or the medical tool134. The manipulator arm portion130may be teleoperatable. The manipulator assemblies126may include a manipulator support structure that connects the manipulator arm portion130to the orienting platform129a. Optionally, in some embodiments, the manipulator support structure is not teleoperatable, such that the manipulator support structure may be positioned as desired before the operator O begins operation with the teleoperative components.

FIGS.2A and2Bare perspective and right side elevation views, respectively, of an instrument holder202and a medical instrument210configured in accordance with embodiments of the present disclosure. In some configurations, such as the configuration shown inFIG.1B, the instrument holder202may form part of the manipulator arm portion130. The medical instrument210is generally removably couplable to the instrument holder202, as will be described in greater detail below. During use, manipulation of the manipulator assemblies126can position the instrument holder202and medical instrument210, while the medical instrument210is translated, rotated, and/or articulated. The instrument holder202may be configured to support and actuate the medical instrument210during the medical procedure. As described in further detail below, in some embodiments, a sterile drape may be provided to drape the instrument holder202and an associated manipulator assembly126(seeFIGS.6A-6E). The sterile drape may be used to maintain a sterile barrier during a surgical procedure and, via a sterile adapter, provide an interface for a medical instrument210mounted to the instrument holder202. The sterile adapter allows for mechanical and electrical signals and energy to be transferred between a non-sterile manipulator assembly126and a medical instrument210positioned in the sterile field.

The medical instrument210may be a therapeutic surgical instrument, an endoscopic camera, etc. Referring toFIGS.1A-2Btogether, the instrument holder202and the medical instrument210may be controlled using the control system110such that the operator O can manipulate the medical instrument210during a medical procedure using the user control system106. The instrument holder202and the medical instrument210may communicate with the system100via various cables and connectors suitable for transferring information (e.g., data signals, light, electrical current, etc.) between them and the system100through the control system110. During a procedure, one or more medical instruments210can be positioned in the patient coordinate space120in relation to the patient P by mounting the medical instruments210to other manipulating systems.

The instrument holder202may include an instrument holder base member220(which may be an elongate spar) having a proximal end portion204and a distal end portion206. The instrument holder base member220may be configured to carry and/or position components of the instrument holder202during use of the medical instrument210, and may include one or more surfaces coupled to more proximal portions of the manipulator arm portion130(e.g., via one or more joints). In this regard, the instrument holder base member220may have a generally constant cross-section along its length such that the instrument holder202may be coupled to a manipulator assembly near a central portion of instrument holder202, or nearer the proximal end portion204or the distal end portion206. In other embodiments, the instrument holder base member220has any suitable cross section along its length, and may include one or more features to assist in positioning the instrument holder202with respect to the patient coordinate space (e.g., distance indices, protrusions (not shown), indentations (not shown), etc.). The instrument holder base member220may have chambers or internal openings to house components of the instrument holder202, as will be described in greater detail below. The instrument holder base member220may be configured to retain a cannula222near the distal end portion206for providing an interface between the surgical opening in the patient P and the medical instrument210during the medical procedure. The cannula222may be removably coupled to the instrument holder base member220such that the cannula222can be separated from the instrument holder base member220, e.g., for sterilization.

The instrument holder202may further include a carriage support224that supports and connects a rotatable carriage226to the instrument holder base member220. The carriage support224may be slidingly associated with instrument holder base member220to translate the rotatable carriage226along the instrument holder base member220(e.g., longitudinally). The carriage support224may include a portion extending into the instrument holder base member220to interface with one or more drive elements configured to control an axial position of the carriage support224and the rotatable carriage226with respect to the instrument holder base member220, and/or an angular position of the rotatable carriage226with respect to the carriage support224and the instrument holder base member220. As shown, the instrument holder202may include an axial drive element242(e.g., a motor, actuator, etc.) operably coupled to an axial drive shaft232to control the axial position of the rotatable carriage226with respect to the instrument holder base member220. The instrument holder202may also include a rotational drive element244(e.g., a motor, actuator, etc.) operably coupled to a rotational drive shaft234to control the axial position of the rotatable carriage226with respect to the instrument holder base member220. The axial and rotational drive shafts232and234may extend from the axial and rotational drive elements242and244to the carriage support224for axial positioning of the carriage support224and the rotatable carriage226with respect to the instrument holder base member220, and angular positioning of the rotatable carriage226with respect to the carriage support224and the instrument holder base member220. The axial and rotational drive shafts232and234are examples of transmission members that may be used to effectuate axial and/or rotational movement of the rotatable carriage226. In alternative embodiments, the transmission members controlling the axial and/or angular position of the rotatable carriage226may include cables, belts, or any other suitable transmission member.

In the illustrated configuration ofFIGS.2A and2B, the axial drive shaft232may have threads (not shown) configured to interface with complementary threads (not shown) in the carriage support224such that when the axial drive shaft232is rotated, the carriage support224traverses along (e.g., longitudinally) the instrument holder base member220to a different axial position. When a tool is mounted to the carriage226and the carriage226is translated longitudinally relative to the instrument holder base member220in the direction of arrow T, the instrument shaft and end effector will translate in the direction of arrow T along with the carriage (corresponding to the instrument shaft insertion direction). The rotational drive shaft234may have features (e.g., gear teeth and splines) to actuate complementary features of the carriage support224and/or rotatable carriage226such that when the rotational drive shaft234is rotated, the rotatable carriage226rotates correspondingly with respect to the carriage support224. When a tool is mounted to the carriage226and the carriage is rotated relative to the instrument holder base member220in the direction of arrow R, the instrument shaft and end effector will also rotate in the direction of arrow R with the rotation of the carriage. In this configuration, the central axis of rotation of the rotatable carriage226coincides with the shaft214of the instrument210. The illustrated embodiments depict a configuration of the instrument holder202allowing axial and rotational positioning of the rotatable carriage226with respect to the instrument holder base member220. However, in other embodiments, any number of drive elements can be used with the instrument holder202to position the rotatable carriage226in any desired position and/or orientation.

The rotatable carriage226may be rotatably coupled to the carriage support224and manipulable by the axial and rotational drive elements242and244, as described above. The rotatable carriage226may be configured to support and mount the medical instrument210on a distal end portion of the rotatable carriage226(i.e., away from the surgical site) and transfer actuation forces to the mounted medical instrument210. An attached medical instrument210can be manipulated by the axial and rotational drive elements242and244for use during a medical procedure wherein actuation forces output by the drive elements242and242are transferred to the medical instrument210. In this regard, change(s) in position and orientation of the rotatable carriage226generally correspond to the same change(s) in position and orientation of the medical instrument210. However, portions of the medical instrument210may still be individually manipulated independent of the change(s) in position and orientation of the rotatable carriage226(e.g., articulation and/or manipulation of an end effector216, etc.). In the illustrated embodiments, the rotatable carriage226is configured to change the axial position and the angular orientation of the medical instrument210. However, the rotatable carriage226may be further configured to change any position and/or orientation of the medical instrument210.

The rotatable carriage226may further include one or more components in mechanical, optical, and/or electrical communication with the proximal end portion of the medical instrument210. As shown, for example, the rotatable carriage226may include drive elements228(e.g., motors or actuators) arranged within the rotatable carriage226to transfer mechanical movement through the distal end portion of the carriage226to the medical instrument210. For example, the drive elements228may be configured to articulate and/or manipulate the end effector216, among other possible movements. The drive elements228may be controlled by electrical signals entering the rotatable carriage226from a connector positioned on the rotatable carriage226(e.g., through a data or energy cable340shown inFIG.7A), or passing through the carriage support224to the rotatable carriage226. The drive elements228may be connected to output drive couplings to transfer articulation forces to the medical instrument210. The rotatable carriage226may also include electrical and/or optical pass-through components to allow external communication with the medical instrument210(e.g., electric current for cauterization, light energy for an endoscope, etc.), as will be explained in greater detail below with reference toFIG.7A.

The medical instrument210may include an instrument housing212, a shaft214, and an end effector216. The medical instrument210may include a plurality of articulable degrees of freedom that can be articulated when mounted to the rotatable carriage226. The instrument housing212is configured to removably couple the medical instrument210to the distal end portion of the rotatable carriage226(e.g., a proximal end portion of the instrument housing212may be coupled to the distal end portion of the carriage226). The instrument housing212is generally configured to enclose various internal components of the medical instrument210(which are omitted from the figures for sake of clarity). The instrument housing212may include one or more force transmission input couplings on the proximal end portion (e.g., disks229, seeFIG.2A) of the housing212, wherein the force transmission input couplings correspond to the drive elements228. The force transmission input couplings of the instrument210may be configured to receive an output from the drive elements228of the carriage226, and thereby cause manipulation of the medical instrument210. For example, one of the input couplings of the instrument210can be used to articulate the end effector216of the mounted medical instrument210around a first axis (e.g., pitch axis), another input coupling can be used to articulate the end effector216around a second axis (e.g., yaw axis) that is perpendicular to the first axis, another input coupling can be used to articulate a clamping jaw of the end effector216, and another input coupling can be used to articulate a stapling and cutting cartridge of the end effector216. The medical instrument210also may include an instrument shaft214extending away from the instrument housing212toward the distal end portion206of the instrument holder base member220. The instrument shaft214may have the end effector216positioned at an end of the instrument shaft214, and may be configured to enter the patient P through the cannula222. The instrument shaft214may be configured to surround one or more of the internal components of the medical instrument210(e.g., cables, wires, fibers, light guides, etc.).

As described above, the rotatable carriage226may be rotated relative to the instrument holder base member220in the direction of arrow R. As the rotatable carriage226rotates, portions or all of the medical instrument210mounted to the carriage will also be rotated (e.g., in a direction corresponding to roll of the shaft214and the end effector216). For example, in some embodiments, the rotation of the rotatable carriage226will cause the shaft214of the instrument to rotate in a roll direction without twisting the shaft214relative to other components of the medical instrument210. In some embodiments, rotation of the carriage may cause the entire instrument to roll as a single unit. The rotation of the medical instrument210by the rotatable carriage226allows adjustable orientation in the roll DOF of the end effector216without twisting of the instrument shaft214relative to other components of the medical instrument210. In this regard, the internal components (e.g., wires, cables, fibers, light guides, etc.) of the instrument shaft214do not experience the unwrap torque described above, thereby reducing tensile load on the inner wrap and/or core of the internal components of the instrument shaft214, and extending the life of the medical instrument210. By rolling the rotatable carriage226of the instrument holder202, the internal friction of the internal components of the instrument shaft214is consistent such that articulation of the end effector216during use can be more consistently and precisely controlled by an operator O.

During installation and removal of the medical instrument210to and from the proximal end portion of the rotatable carriage226(the patient-facing side), it may be desirable to limit the amount of travel of the medical instrument210in the insertion direction (i.e., in a direction toward the surgical field and the patient P), as unintended and/or excessive insertion of the instrument210toward the patient P can cause injury to the patient P and/or damage to the equipment of the system100. Several examples of embodiments configured to limit the amount of insertion of the medical instrument210during instrument installation and removal are shown inFIGS.3A-4, and will now be explained in greater detail. It may be further desirable to provide clocking and alignment of the medical instrument210with respect to the rotatable carriage226, such as alignment of one or more electrical, mechanical, and optical connections between the medical instrument210and the rotatable carriage226.

FIGS.3A and3Bare right side elevation detail views of a portion of the instrument holder202and the medical instrument210in accordance with embodiments of the present disclosure. In particular,FIG.3Aillustrates the rotatable instrument holder202and the medical instrument210in a disassembled configuration, andFIG.3Billustrates the instrument holder202and the medical instrument210in an assembled configuration. As shown, the carriage support224may include a catch240generally aligned with the instrument holder base member220and configured to interface with a lower surface of the instrument housing212to prevent inadvertent insertion of the medical instrument210toward the surgical field, e.g., into the anatomy of the patient P (not shown). The catch240may be coupled to the carriage support224such that the catch240travels with the carriage support224along the instrument holder base member220during axial motion of the carriage support224. In this regard, the medical instrument210may be coupled and decoupled to the carriage226at various axial positions of the carriage support224relative to the instrument holder202without over-insertion of the instrument210toward the surgical field. In other embodiments, the catch240may be attached to the rotatable carriage226(seeFIG.4), attached to a sterile adapter (see, e.g.,FIGS.6A-6F), or may be a separate component.

As shown inFIG.3A, the instrument210may be detached from the carriage226while a stop mechanically constrains the instrument210from being further moved towards the surgical field. For example, the instrument housing212can be separated from the rotatable carriage226and is generally allowed to travel axially away from the rotatable carriage226until the instrument housing212abuts a catch protrusion241. The catch protrusion241may project away from the catch240and physically interfere with the axial travel of the medical instrument210at a specified insertion distance away from the rotatable carriage226. The insertion compliance (e.g., the axial separation distance the medical instrument210can travel before contacting the catch protrusion241) of the medical instrument210may be implemented based on a variety of factors, including the size of the surgical field, the procedure to be performed, the configuration of the components of the system100, etc. Generally, the insertion compliance must be at least greater than the clearance required for aligning the medical instrument210to the rotatable carriage226, for example, lateral clearance for one or more alignment features (see, e.g.,FIG.5A). When the medical instrument210is in the assembled configuration shown inFIG.3B, the catch240may be positioned to not interfere with or impede rotation or insertion of the medical instrument210by the rotatable carriage226. Optionally, in some embodiments, the position of the catch240relative to at least one of the carriage226, the carriage support224, a sterile adapter, or a mounted instrument housing212may be adjusted to adjust the amount of insertion compliance (e.g., to accommodate instruments with differently sized instrument housings). For example, the catch240may include a vertically telescoping feature that may be locked to set the amount of insertion compliance. Optionally, in some embodiments, the amount of projection of the catch protrusion241may be adjusted (e.g., to accommodate instruments with differently sized instrument housings). For example, the catch protrusion241may include a horizontally telescoping feature that may be locked to set the amount of protrusion.

FIG.4is a perspective detail view of a portion of the rotatable carriage226and the medical instrument210in an assembled configuration in accordance with embodiments of the present disclosure. As shown, the rotatable carriage226may include a catch250configured to interface with a recess or indentation218in the instrument housing212to prevent inadvertent insertion of the medical instrument210into the surgical field. The catch250may project as an attachment from a lower surface of the rotatable carriage226to an area that interfaces with corresponding features on the medical instrument210. In some embodiments, the catch250may be part of a sterile adapter positioned between the rotatable carriage226and medical instrument210(e.g., the sterile adapters ofFIGS.6B-6D), and may project from the sterile adapter to interface with the medical instrument210. In a similar manner to the catch240described above, the catch250is configured to allow separation of the medical instrument210from the rotatable carriage226in an axial direction away from the rotatable carriage226until a wall219of the indentation218in the instrument housing212abuts a catch protrusion252of the catch250. As shown, the catch protrusion252may project in multiple directions, and may generally form a “T” shape, with the shape of the indentation218and the wall219generally having complementary features to interface with the catch protrusion(s)252. The interface of the catch250with the indentation218may also be configured to provide a clocking alignment of the medical instrument210during installation of the instrument210to the rotatable carriage226. In this regard, the placement of the indentation218can rotationally orient the instrument housing212to the desired clocked position, prior to attaching the instrument210to the rotatable carriage226, by laterally interfacing with the catch250and/or the catch protrusion252as the medical instrument210is translated axially toward the rotatable carriage226.

Upon removal of the medical instrument210from the rotatable carriage226, the medical instrument210is configured to travel axially away from the rotatable carriage226in the insertion direction (as shown by the arrow A) until the catch protrusion252abuts the wall219of the indentation218and limits further insertion. As with the catch240described above, the catch250may be similarly configured to physically interfere with the axial travel of the medical instrument210at a specified insertion distance away from the rotatable carriage226, and the specified insertion distance may be adjustable as described above with respect to catch240. The insertion compliance (e.g., the axial distance the medical instrument210can travel before the wall219impacts the catch protrusion252) of the medical instrument210may be implemented based on a variety of factors, including the size of the surgical field, the procedure to be performed, the configuration of the components of the system100, etc. Generally, the insertion compliance must be at least greater than the clearance required for aligning the medical instrument210to the rotatable carriage226, for example, lateral clearance for one or more alignment features (see, e.g.,FIG.5A).

FIGS.5A and5Bshow top and bottom perspective detail views, respectively, of the rotatable carriage226and the medical instrument210having a clocking and centering alignment feature configured in accordance with embodiments of the present disclosure. The instrument housing212may include a male alignment projection260positioned and configured to align and clock the medical instrument210with respect to the rotatable carriage226and sterile adapter during installation. The male alignment projection260, for example, may be frustoconical with a smooth upper section to provide radial alignment of the medical instrument210with the rotatable carriage226. In other embodiments, however, the male alignment projection260may have other suitable shapes/configurations. The male alignment projection260may further include a clocking alignment protrusion262configured to provide clocking alignment of the medical instrument210with respect to the rotatable carriage226, while the male alignment protrusion260generally provides a centering alignment of central axes of the medical instrument210and the rotatable carriage226.

As shown inFIG.5B, the rotatable carriage226may include a female alignment recess264that is generally complementary to the size and shape of the male alignment projection260. In some embodiments, a sterile adapter between the carriage226and the instrument210(e.g., the sterile adapter ofFIGS.6B-6D) may have a similar female alignment recess as the rotatable carriage226. The female alignment recess264, for example, may be inverse frustoconical with surfaces configured to interface with the male alignment projection260and provide radial alignment of the medical instrument210with the rotatable carriage226. In other embodiments, however, the female alignment recess264may have any other suitable shapes/configurations.

The female alignment recess264may further include a clocking alignment indentation266that generally corresponds to the clocking alignment protrusion262to provide clocking alignment of the medical instrument210with respect to the rotatable carriage226and/or sterile adapter. During installation of the medical instrument210to the rotatable carriage226and sterile adapter, the interface of the male alignment projection260and the female alignment recess264provide a rough centering alignment at the start of engagement, and adjust the position of the medical instrument210into the desired final centered alignment as the medical instrument210is coupled to the rotatable carriage226. After initial engagement of the male alignment projection260and the female alignment recess264, the clocking alignment protrusion262begins to interface with the clocking alignment indentation266to provide rough clocking alignment at the start of engagement, and adjust the clocked orientation of the medical instrument210to the desired final clocked orientation as the medical instrument210is coupled to the rotatable carriage226. Although the male alignment projection260is shown on the medical instrument210and the female alignment recess264is shown on the rotatable carriage226, in other embodiments the male portion is positioned on the rotatable carriage226with the female portion positioned on the medical instrument210, or a combination of complementary male projections and female recesses may be positioned on each component. Optionally, in some embodiments, a plurality of projections and recesses may be provided to facilitate alignment, and may be positioned at various locations along the mating surfaces of the carriage226and the instrument210.

Embodiments of a sterile drape and sterile adapter will not be described in greater detail. Referring toFIG.6A, a sterile drape400is shown covering the instrument holder202, including the instrument holder base member220, the carriage support224, and the rotatable carriage226. In some embodiments, the sterile drape400may also cover some or all of the manipulator assembly126supporting the instrument holder202, as well as the other portions of the manipulating system121. The sterile drape400may be used to shield non-sterile components of the manipulator assembly126from the sterile field and to protect the manipulator assembly126from contaminants during a surgical procedure.

As shown inFIG.6A, the sterile drape400may include a sterile adapter410(e.g., a distal sterile adapter) positionable at a distal end portion of the rotatable carriage226to provide an interface between the rotatable carriage226and a mounted instrument210. The sterile drape400may also include a sterile adapter420(e.g., a proximal sterile adapter) positionable at a proximal end portion of the rotatable carriage226to provide an interface between the rotatable carriage226and a proximally mounted element, such as the data or energy cable340, described below. When sterile adapters410and420are mounted to the rotatable carriage226, an exterior of the sterile adapters410and420faces the surgical environment while an interior of the sterile adapters410and420faces the rotatable carriage226. As described in further detail below, the sterile adapters410and420allow for mechanical and electrical signals and energy to be transferred between a non-sterile manipulator assembly126and a medical instrument210and/or data or the energy cable340positioned in the sterile field, while permitting movement of the instrument holder202and the manipulator assembly126, such as rotation of the rotatable carriage226. The sterile adapters410and420may be made of a rigid material, such as polycarbonate, acrylonitrile butadiene styrene (ABS), any suitable thermoplastic or thermoset materials, or the like. In some embodiments, the sterile adapters410and420may be spaced apart with drape material430positioned between the sterile adapters410and420and surrounding the rotatable carriage226. In other embodiments, the sterile adapters410and1020may be part of an enclosure (e.g., a rigid enclosure) that surrounds the rotatable carriage226.

FIGS.6B-6Dare perspective and cross-sectional views of embodiments of nested disk sterile adapters configured in accordance with embodiments of the present disclosure. The sterile adapters ofFIGS.6B-6Dare examples of the distal sterile adapter410. Referring initially toFIGS.6B and6C, a nested disk sterile adapter270may be configured for positioning between the rotatable carriage226and the medical instrument210(e.g., in the gap between the rotatable carriage226and the medical instrument210inFIG.3A) to provide a barrier between sterile and nonsterile environments in the patient coordinate space120. The nested disk sterile adapter270may include a frame280, a roll disk272configured to rotate with respect to the frame280, and a plurality of inner disks274configured to rotate with respect to the roll disk272. The inner disks274may align with output disks of the motors228of the rotatable carriage226and the disks229on the medical instrument210. When installed, the nested disk sterile adapter270may be configured to transfer mechanical movement of the motors228to the medical instrument210. The nested disk sterile adapter270may further include a light pipe276(e.g., an optical window) centered on the roll disk272and configured to allow light to pass through from the rotatable carriage226to the medical instrument210. In other embodiments, one or more electrical connections may pass through the nested disk sterile adapter270to transmit electrical signals between the rotatable carriage226and the medical instrument210.

The frame280of the sterile adapter270may extend laterally away from the roll disk272to any suitable distance to create the desired barrier between the sterile and nonsterile environments. The frame280may include drape geometry (not shown) and/or have a drape material extending away from the frame280and configured to further extend the sterile barrier as needed away from the sterile adapter, e.g., for various medical procedures, patient anatomy, the configuration of system100, etc. As shown inFIG.6C, the frame280may interface with the perimeter of the roll disk272using a complementary protrusion and recess geometry, e.g., having a male protrusion278extending into a female recess282. In other embodiments, the male protrusion is positioned instead on the perimeter of the roll disk272and configured to extend into a female recess on the frame280. In the illustrated configuration, the overlap of the protrusion278with the recess282can prevent contaminants, fluids, and other debris from traveling across the sterile barrier. Similarly, the roll disk272may interface with the perimeter of the inner disks274using a complementary protrusion and recess geometry, e.g., having a male protrusion283extending into a female recess279. In other embodiments, the male protrusion is positioned instead on the perimeter of the inner disks274and configured to extend into a female recess on the roll disk272. In the illustrated configuration, the overlap of the protrusion283with the recesses279can prevent contaminants, fluids, and other debris from traveling across the sterile barrier. Other suitable sterile interfaces between the frame280, the roll disk272, and the inner disks274are also within the scope of the present disclosure.

FIG.6Dis a perspective view of another embodiment of a nested disk sterile adapter290configured for positioning between the rotatable carriage226and the medical instrument210to provide a barrier between sterile and nonsterile environments in the patient coordinate space120. The nested disk sterile adapter290may include the frame280, and a plurality of concentric disks292,294, and296, each of the disks being independently rotatable with respect to each other and the frame280. The concentric disks292,294, and296may be configured to transfer mechanical movement of actuators of the rotatable carriage226to the medical instrument210. The nested disk sterile adapter290may include similar protrusion and recess geometry as described above with respect to the nested disk sterile adapter270. Such protrusion and recess geometry may be positioned between the frame280and each of the concentric disks292,294, and296. The nested disk sterile adapter290may further include a central light pipe298through the innermost concentric disk296and configured to allow light energy to pass through from the rotatable carriage226to the medical instrument210. In other embodiments, one or more electrical connections may pass through the nested disk sterile adapter290to transmit electricity between the rotatable carriage226and the medical instrument210.

FIGS.6E-6Fare perspective and cross-sectional views of embodiments of another sterile adapter350configured in accordance with embodiments of the present disclosure. The sterile adapter350ofFIGS.6E-6Fare examples of the proximal sterile adapter420. The sterile adapter350may be configured for positioning between a proximal end portion of the rotatable carriage326and a proximally mounted element, such as the data or energy cable340described below (seeFIG.7A). The sterile adapter350provides a barrier between sterile and nonsterile environments in the patient coordinate space120, while permitting mechanical and electrical signals and energy to be transferred between the manipulator assembly126and the data or energy cable340positioned in the sterile field and also permitting movement of the instrument holder202.

The sterile adapter350may include a frame360, a roll disk370configured to rotate with respect to the frame360, and a connector380configured to mate to the data or energy cable340. The connector380may be rotatable along with the rotation of the roll disk370. The connector380may include an electrical conductor382configured to allow electricity (e.g., signals, data, and/or power) to be transmitted through the sterile adapter350. The electrical conductor382may be in electrical contact with an electrical connector331(seeFIG.7A) of the carriage326and with connector features of the data or energy cable340, to allow the electrical signals, data, and/or power to be communicated between the data or energy cable340and the medical instrument310positioned at the distal end portion of the rotatable carriage326. The connector380may further include a light pipe384(e.g., an optical window) centered on the sterile adapter350and configured to allow light to pass through the sterile adapter350. The light pipe384may be in communication with a light pipe327of the rotatable carriage326(seeFIG.7A), such that light and communication signals may be transmitted between the data or energy cable340and the medical instrument310positioned at the distal end portion of the rotatable carriage326. In some embodiments, the electrical conductor382may be positioned radially outward relative to the light pipe384. In some embodiments, the sterile adapter350may include the electrical conductor382and not include the light pipe384. In other embodiments, the sterile adapter350may include the light pipe384and not include the electrical conductor382.

FIGS.7A and7Bare right side elevation detail views of an instrument holder302and a medical instrument310configured in accordance with additional embodiments of the present disclosure. The instrument holder302and medical instrument can be used with the system100or other suitable systems. The instrument holder302can include a rotatable carriage326. Certain features of the instrument holder302and the medical instrument310shown inFIGS.7A and7Bare similar to features of the instrument holder202and the medical instrument210ofFIGS.2A-5B, described above. As such, the features of the instrument holder302and the medical instrument310are denoted in the 300-series with like numbers corresponding to similar features of the rotatable instrument holder202and the medical instrument210denoted in the 200-series, unless otherwise stated.

As shown inFIG.7A, the rotatable carriage326may include a light guide or light pipe327configured to allow light (e.g., for an endoscope or fiber optic communication) to pass through the rotatable carriage326.FIG.7Aadditionally includes a drape500having a distal sterile adapter510and a proximal sterile adapter520. The distal sterile adapter510may be similar to the sterile adapters270or290described above, and the proximal sterile adapter520may be similar to the sterile adapter350described above. As shown inFIG.7A, the light pipe327of the rotatable carriage326is aligned with the light pipe of the distal sterile adapter510and the light pipe of the proximal sterile adapter520. This allows light and/or communication signals to be transmitted between a data or energy cable connected to the proximal end portion of the rotatable carriage326and a medical instrument310(e.g., a 0° endoscope, as shown inFIG.7A, etc.) connected to the distal end portion of the rotatable carriage326. The rotatable carriage326may further include an electrical conductor331extending through the rotatable carriage326and may be positioned radially outward of the light pipe327. As further shown inFIG.7A, the electrical conductor331of the rotatable carriage326is in contact with the electrical conductor of the distal sterile adapter510and the electrical conductor of the proximal sterile adapter520. The electrical conductor331of the rotatable carriage326in conjunction with the electrical connectors of the sterile adapters510and520may be configured to transmit electricity (e.g., signals, data, and/or power) between the data or energy cable340connection on the proximal end portion of the rotatable carriage326and a shaft314of the medical instrument310at the distal end portion of the rotatable carriage326. The electrical connectors of the sterile adapters510and520, and/or the data or energy cable340may have connector features (e.g., pogo pins, not shown) to allow electrical communication during rotation of the rotatable carriage326. In some embodiments, the light pipe327may be surrounded by a faraday cage (not shown) to protect data signals passing through the rotatable carriage326from interference. Although shown as an endoscope inFIG.7A, in other embodiments, the medical instrument310is any suitable medical instrument, e.g., an articulable end effector, an electrocautery device, etc.

FIG.7Bshows another embodiment of the rotatable carriage326including a central bore333, with the light pipe327of the embodiment ofFIG.7Aremoved.FIG.7Badditionally includes the drape500having the distal sterile adapter510and a proximal sterile adapter530. The distal sterile adapter510may be similar to the sterile adapters270or290described above. The proximal sterile adapter530has a portion that is insertable into the central bore333. The proximal sterile adapter530and the central bore333are configured to allow a data or energy cable341to be inserted through the rotatable carriage326and provide communication signals to the medical instrument310(e.g., a 0° endoscope, as shown inFIG.7B, etc.) through a sterile adapter (e.g., a nested disk sterile adapter shown inFIGS.6B and6D, etc.). In this regard, the data or energy cable341may include one or more cable types, e.g., a light pipe, optical fibers, coaxial conductors, copper conductors, twisted wire pairs, etc.

The above detailed descriptions of embodiments of the technology are not intended to be exhaustive or to limit the technology to the precise form disclosed above. Although specific embodiments of, and examples for, the technology are described above for illustrative purposes, various equivalent modifications are possible within the scope of the technology, as those skilled in the relevant art will recognize. For example, while steps are presented in a given order, alternative embodiments may perform steps in a different order. Moreover, the various embodiments described herein may also be combined to provide further embodiments. Reference herein to “one embodiment,” “an embodiment,” or similar formulations means that a particular feature, structure, operation, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present disclosure. Thus, the appearances of such phrases or formulations herein are not necessarily all referring to the same embodiment.

For ease of reference, identical reference numbers are used to identify similar or analogous components or features throughout this disclosure, but the use of the same reference number does not imply that the features should be construed to be identical. Indeed, in many examples described herein, identically numbered features have a plurality of embodiments that are distinct in structure and/or function from each other. Furthermore, the same shading may be used to indicate materials in cross section that can be compositionally similar, but the use of the same shading does not imply that the materials should be construed to be identical unless specifically noted herein.

Moreover, unless the word “or” is expressly limited to mean only a single item exclusive from the other items in reference to a list of two or more items, then the use of “or” in such a list is to be interpreted as including (a) any single item in the list, (b) all of the items in the list, or (c) any combination of the items in the list. Where the context permits, singular or plural terms may also include the plural or singular term, respectively. Additionally, the term “comprising” is used throughout to mean including at least the recited feature(s) such that any greater number of the same feature and/or additional types of other features are not precluded. Directional terms, such as “upper,” “lower,” “front,” “back,” “vertical,” and “horizontal,” may be used herein to express and clarify the relationship between various elements. It should be understood that such terms do not denote absolute orientation. Further, while advantages associated with certain embodiments of the technology have been described in the context of those embodiments, other embodiments may also exhibit such advantages, and not all embodiments need necessarily exhibit such advantages to fall within the scope of the technology. Accordingly, the disclosure and associated technology can encompass other embodiments not expressly shown or described herein.