Patent Description:
Invasive surgical procedures are essential for addressing various medical conditions. When possible, minimally invasive procedures such as laparoscopy are preferred.

However, known minimally invasive technologies such as laparoscopy are limited in scope and complexity due in part to <NUM>) mobility restrictions resulting from using rigid tools inserted through access ports, and <NUM>) limited visual feedback. Known robotic systems such as the da Vinci® Surgical System (available from Intuitive Surgical, Inc. , located in Sunnyvale, CA) are also restricted by the access ports, as well as having the additional disadvantages of being very large, very expensive, unavailable in most hospitals, and having limited sensory and mobility capabilities.

There is a need in the art for improved surgical systems and devices.

<CIT> discloses a side looking surgery instrument assembly.

<CIT> discloses a cannula including a coupling interface adapted to receive medical instruments.

<CIT> discloses medical device components, including components that can be incorporated into robotic and/or in vivo medical devices.

Discussed herein are various robotic surgical systems, including certain systems having camera lumens configured to receive various camera systems. Further embodiments relate to surgical insertion devices configured to be used to insert various surgical devices into a cavity of a patient while maintaining insufflations of the cavity.

A system of one or more computers can be configured to perform particular operations or actions by virtue of having software, firmware, hardware, or a combination of them installed on the system that in operation causes or cause the system to perform the actions. One or more computer programs can be configured to perform particular operations or actions by virtue of including instructions that, when executed by data processing apparatus, cause the apparatus to perform the actions.

The present invention provides a robotic surgical system according to claim <NUM>.

In one Example, a robotic surgical system, including a robotic surgical device including a device body including a distal end; a proximal end, and a camera lumen defined within the device body, the camera lumen including (<NUM>)a proximal lumen opening in the proximal end of the device body;(<NUM>)a socket portion defined distally of the proximal lumen opening, the socket portion including a first diameter and a first coupling component;(<NUM>)an extended portion defined distally of the socket portion, the extended portion having a second, smaller diameter; and (<NUM>)a distal lumen opening in the distal end of the device body, the distal lumen opening defined at a distal end of the extended portion; first and second shoulder joints operably coupled to the distal end of the device body; a first robotic arm operably coupled to the first shoulder joint; and a second robotic arm operably coupled to the second shoulder joint; and a camera component, including a handle including a distal end configured to be positionable within the socket portion; a second coupling component configured to releasably couple with the first coupling component, thereby releasably locking the handle into the socket portion; an elongate tube operably coupled to the handle, where the elongate tube is configured and sized to be positionable through the extended portion, the elongate tube including a rigid section; an optical section; and a flexible section operably coupling the optical section to the rigid section,where the elongate tube has a length such that at least the optical section is configured to extend distally from the distal lumen opening when the camera component is positioned through the camera lumen. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

Implementations may include one or more of the following features. The robotic surgical system where the camera lumen further includes a seal portion defined distally of the socket portion and proximally of the extended portion. The robotic surgical system where the seal section is configured to receive a ring seal and a one-way seal. The robotic surgical system where the seal section is further configured to receive a retention component, where the ring seal is retained within the ring-seal retention component. The robotic surgical system where the ring-seal retention component includes at least one protrusion extending from an outer wall of the ring-seal retention component. The robotic surgical system where the socket portion further includes a channel defined in an inner wall of the socket portion, where the channel is configured to receive the at least one protrusion. The robotic surgical system where the handle includes a controller configured to operate the camera component. The robotic surgical system where the distal lumen opening is positioned between the first and second shoulder joints. The robotic surgical system where the optical section is configured to be tiltable at the flexible section in relation to the rigid section, where the optical section has a straight configuration and a tilted configuration. The robotic surgical system where the elongate tube is configured to be rotatable in relation to the handle. The robotic surgical system where the socket portion further includes an inner wall including a channel configured to receive an insertion device. The robotic surgical system where the camera lumen includes a proximal lumen opening in the proximal end of the device body; a socket portion defined distally of the proximal lumen opening, the socket portion including a first diameter and a first coupling component; an extended portion defined distally of the socket portion, the extended portion having a second, smaller diameter; and a distal lumen opening in the distal end of the device body, the distal lumen opening defined at a distal end of the extended portion. The robotic surgical system where the first robotic arm further includes a first arm upper arm; a first arm elbow joint; and a first arm lower arm, where the first arm upper arm is configured to be capable of roll, pitch and yaw relative to the first shoulder joint and the first arm lower arm is configured to be capable of yaw relative to the first arm upper arm by way of the first arm elbow joint. The surgical robotic system where the first robotic arm further includes at least one first arm actuator disposed within the first robotic arm. The robotic surgical system where the second robotic arm further includes a second arm upper arm; a second arm elbow joint; and a second arm lower arm, where the second arm upper arm is configured to be capable of roll, pitch and yaw relative to the second shoulder joint and the second arm lower arm is configured to be capable of yaw relative to the second arm upper arm by way of the second arm elbow joint. The surgical robotic system where the second robotic arm further includes at least one second arm actuator disposed within the second robotic arm. The surgical robotic system including a handle including a distal end configured to be positionable within the socket portion; and a second coupling component configured to releasably couple with the first coupling component, thereby releasably locking the handle into the socket portion. The surgical robotic system further including at least one PCB disposed within at least one of the first or second robotic arms and in operational communication with at least one of the first robotic arm and second robotic arm, where the PCB is configured to perform yaw and pitch functions. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.

In one Example, a robotic surgical system, including a robotic surgical device including a device body including a distal end; a proximal end, and a camera lumen defined within the device body; first and second shoulder joints operably coupled to the distal end of the device body; a first robotic arm operably coupled to the first shoulder joint; and a second robotic arm operably coupled to the second shoulder joint; and a camera component, including a handle including a distal end configured to be positionable within the socket portion; a second coupling component configured to releasably couple with the first coupling component, thereby releasably locking the handle into the socket portion; an elongate tube operably coupled to the handle, where the elongate tube is configured and sized to be positionable through the extended portion, the elongate tube including a rigid section; an optical section; and a flexible section operably coupling the optical section to the rigid section,where the elongate tube has a length such that at least the optical section is configured to extend distally from the distal lumen opening when the camera component is positioned through the camera lumen. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

Implementations may include one or more of the following features. The robotic surgical system where the camera lumen includes a proximal lumen opening in the proximal end of the device body; a socket portion defined distally of the proximal lumen opening, the socket portion including a first diameter and a first coupling component; an extended portion defined distally of the socket portion, the extended portion having a second, smaller diameter; and a distal lumen opening in the distal end of the device body, the distal lumen opening defined at a distal end of the extended portion. The robotic surgical system where the first robotic arm further includes a first arm upper arm; a first arm elbow joint; and a first arm lower arm, where the first arm upper arm is configured to be capable of roll, pitch and yaw relative to the first shoulder joint and the first arm lower arm is configured to be capable of yaw relative to the first arm upper arm by way of the first arm elbow joint. The surgical robotic system where the first robotic arm further includes at least one first arm actuator disposed within the first robotic arm. The robotic surgical system where the second robotic arm further includes a second arm upper arm; a second arm elbow joint; and a second arm lower arm, where the second arm upper arm is configured to be capable of roll, pitch and yaw relative to the second shoulder joint and the second arm lower arm is configured to be capable of yaw relative to the second arm upper arm by way of the second arm elbow joint. The surgical robotic system where the second robotic arm further includes at least one second arm actuator disposed within the second robotic arm. The surgical robotic system including a handle including a distal end configured to be positionable within the socket portion; and a second coupling component configured to releasably couple with the first coupling component, thereby releasably locking the handle into the socket portion. The surgical robotic system further including at least one PCB disposed within at least one of the first or second robotic arms and in operational communication with at least one of the first robotic arm and second robotic arm, where the PCB is configured to perform yaw and pitch functions. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.

In one Example, a robotic surgical system, including a robotic surgical device including a device body including a distal end; a proximal end, and a camera lumen defined within the device body, the camera lumen including (<NUM>)a proximal lumen opening in the proximal end of the device body;(<NUM>)a socket portion defined distally of the proximal lumen opening, the socket portion including a first diameter and a first coupling component;(<NUM>)an extended portion defined distally of the socket portion, the extended portion having a second, smaller diameter; and (<NUM>)a distal lumen opening in the distal end of the device body, the distal lumen opening defined at a distal end of the extended portion; first and second shoulder joints operably coupled to the distal end of the device body; a first robotic arm operably coupled to the first shoulder joint; and a second robotic arm operably coupled to the second shoulder joint; and a camera component, including an elongate tube operably coupled to the handle, where the elongate tube is configured and sized to be positionable through the extended portion, the elongate tube including a rigid section; an optical section; and a flexible section operably coupling the optical section to the rigid section,where the elongate tube has a length such that at least the optical section is configured to extend distally from the distal lumen opening when the camera component is positioned through the camera lumen. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

Implementations may include one or more of the following features. The surgical robotic system including a handle including a distal end configured to be positionable within the socket portion; and a second coupling component configured to releasably couple with the first coupling component, thereby releasably locking the handle into the socket portion. The surgical robotic system further including at least one PCB disposed within at least one of the first or second robotic arms and in operational communication with at least one of the first robotic arm and second robotic arm, where the PCB is configured to perform yaw and pitch functions. Implementations of the described techniques may include hardware, a method or process, or computer software on a computer-accessible medium.

As will be realized, the invention is capable of modifications in various obvious aspects, all without departing from the scope of the present invention.

The various systems and devices disclosed herein relate to devices for use in medical procedures and systems. More specifically, various embodiments relate to various medical devices, including robotic devices and related methods and systems.

It is understood that the various embodiments of robotic devices and related methods and systems disclosed herein can be incorporated into or used with any other known medical devices, systems, and methods.

It is understood that the various embodiments of robotic devices and related methods and systems disclosed herein can be incorporated into or used with any other known medical devices, systems, and methods. For example, the various embodiments disclosed herein may be incorporated into or used with any of the medical devices and systems disclosed in <CIT> and entitled "Magnetically Coupleable Robotic Devices and Related Methods"), <CIT> and entitled "Magnetically Coupleable Surgical Robotic Devices and Related Methods"), <CIT> and entitled "Robotic Surgical Devices and Related Methods"), <CIT> and entitled "Methods, Systems, and Devices for Surgical Visualization and Device Manipulation"), <CIT>), <CIT> and entitled "Methods and Systems of Actuation in Robotic Devices"), <CIT> and entitled "Methods and Systems of Actuation in Robotic Devices"), <CIT> and entitled "Methods and Systems of Actuation in Robotic Devices"), <CIT> and entitled Medical Inflation, Attachment, and Delivery Devices and Related Methods"), <CIT> and entitled "Medical Inflation, Attachment, and Delivery Devices and Related Methods"), <CIT> and entitled "Modular and Cooperative Medical Devices and Related Systems and Methods"), <CIT> and entitled "Multifunctional Operational Component for Robotic Devices"), <CIT> and entitled "Multifunctional Operational Component for Robotic Devices"), <CIT> and entitled "Multifunctional Operational Component for Robotic Devices"), <CIT> and entitled "Modular and Cooperative Medical Devices and Related Systems and Methods"), <CIT> and entitled "Methods and Systems for Handling or Delivering Materials for Natural Orifice Surgery"), <CIT> and entitled "Methods, Systems, and Devices Relating to Surgical End Effectors" ), <CIT> and entitled "Methods, Systems, and Devices Relating to Surgical End Effectors" ), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods"), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods"), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods"), <CIT> and entitled "Methods, Systems, and Devices for Surgical Access and Insertion"), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods"), <CIT> and entitled "Methods, Systems, and Devices for Surgical Access and Insertion"), <CIT> and entitled "Single Site Robotic Devices and Related Systems and Methods"), <CIT> and entitled "Local Control Robotic Surgical Devices and Related Methods"), <CIT> and entitled "Local Control Robotic Surgical Devices and Related Methods"), <CIT> and entitled "Methods, Systems, and Devices Relating to Robotic Surgical Devices, End Effectors, and Controllers"), <CIT> and entitled "Methods, Systems, and Devices Relating to Force Control Surgical Systems), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods"), <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods"), <CIT> and entitled "Quick-Release End Effectors and Related Systems and Methods"), <CIT> and entitled "Robotic Device with Compact Joint Design and Related Systems and Methods"), and <CIT> and entitled "Robotic Surgical Devices, Systems, and Related Methods"), and <CIT> and entitled "Robot for Surgical Applications"), <CIT> and entitled "Robot for Surgical Applications"), and <CIT>, and entitled "Robotic Devices with Agent Delivery Components and Related Methods").

Certain device and system implementations disclosed in the applications listed above can be positioned within a body cavity of a patient in combination with a support component similar to those disclosed herein. An "in vivo device" as used herein means any device that can be positioned, operated, or controlled at least in part by a user while being positioned within a body cavity of a patient, including any device that is coupled to a support component such as a rod or other such component that is disposed through an opening or orifice of the body cavity, also including any device positioned substantially against or adjacent to a wall of a body cavity of a patient, further including any such device that is internally actuated (having no external source of motive force), and additionally including any device that may be used laparoscopically or endoscopically during a surgical procedure. As used herein, the terms "robot," and "robotic device" shall refer to any device that can perform a task either automatically or in response to a command.

Certain embodiments provide for insertion of the present invention into the cavity while maintaining sufficient insufflation of the cavity. Further embodiments minimize the physical contact of the surgeon or surgical users with the present invention during the insertion process. Other implementations enhance the safety of the insertion process for the patient and the present invention. For example, some embodiments provide visualization of the present invention as it is being inserted into the patient's cavity to ensure that no damaging contact occurs between the system/device and the patient. In addition, certain embodiments allow for minimization of the incision size/length. Further implementations reduce the complexity of the access/insertion procedure and/or the steps required for the procedure. Other embodiments relate to devices that have minimal profiles, minimal size, or are generally minimal in function and appearance to enhance ease of handling and use.

Certain implementations disclosed herein relate to "combination" or "modular" medical devices that can be assembled in a variety of configurations. For purposes of this application, both "combination device" and "modular device" shall mean any medical device having modular or interchangeable components that can be arranged in a variety of different configurations. The modular components and combination devices disclosed herein also include segmented triangular or quadrangular-shaped combination devices. These devices, which are made up of modular components (also referred to herein as "segments") that are connected to create the triangular or quadrangular configuration, can provide leverage and/or stability during use while also providing for substantial payload space within the device that can be used for larger components or more operational components. As with the various combination devices disclosed and discussed above, according to one embodiment these triangular or quadrangular devices can be positioned inside the body cavity of a patient in the same fashion as those devices discussed and disclosed above.

Certain embodiments disclosed or contemplated herein can be used for colon resection, a surgical procedure performed to treat patients with lower gastrointestinal diseases such as diverticulitis, Crohn's disease, inflammatory bowel disease and colon cancer. <NUM> inch = <NUM>.

Approximately two-thirds of known colon resection procedures are performed via a completely open surgical procedure involving an <NUM>- to <NUM>-inch incision and up to six weeks of recovery time. Because of the complicated nature of the procedure, existing robot-assisted surgical devices are rarely used for colon resection surgeries, and manual laparoscopic approaches are only used in one-third of cases. In contrast, the various implementations disclosed herein can be used in a minimally invasive approach to a variety of procedures that are typically performed 'open' by known technologies, with the potential to improve clinical outcomes and health care costs. Further, the various implementations disclosed herein can be used for any laparoscopic surgical procedure in place of the known mainframe-like laparoscopic surgical robots that reach into the body from outside the patient. That is, the less-invasive robotic systems, methods, and devices disclosed herein feature small, self-contained surgical devices that are inserted in their entireties through a single incision in the patient's abdomen. Designed to utilize existing tools and techniques familiar to surgeons, the devices disclosed herein will not require a dedicated operating room or specialized infrastructure, and, because of their much smaller size, are expected to be significantly less expensive than existing robotic alternatives for laparoscopic surgery. Due to these technological advances, the various embodiments herein could enable a minimally invasive approach to procedures performed in open surgery today.

As shown in <FIG>, certain exemplary embodiments relate to a device <NUM> having a body <NUM> with two arms <NUM>, <NUM> operably coupled thereto and a camera component <NUM> positionable therein. That is, device <NUM> has a first (or "right") arm <NUM> and a second (or "left) arm <NUM>, both of which are operably coupled to the body <NUM> as discussed in additional detail below. The body <NUM> as shown has a casing (also referred to as a "cover" or "enclosure") <NUM>. The body <NUM> is also referred to as a "device body" <NUM> and has two rotatable cylindrical components (also referred to as "housings" and "turrets"): a first (or "right") housing <NUM> and a second (or "left") housing <NUM>. Each arm <NUM>, <NUM> also has an upper arm (also referred to herein as an "inner arm," "inner arm assembly," "inner link," "inner link assembly," "upper arm assembly," "first link," or "first link assembly") 14A, 16A, and a forearm (also referred to herein as an "outer arm," "outer arm assembly," "outer link," "outer link assembly," "forearm assembly," "second link," or "second link assembly") 14B, 16B. The right upper arm 14A is operably coupled to the right housing <NUM> of the body <NUM> at the right shoulder joint <NUM> and the left upper arm 16A is operably coupled to the left housing <NUM> of the body <NUM> at the left shoulder joint <NUM>. Further, for each arm <NUM>, <NUM>, the forearm 14B, 16B is rotatably coupled to the upper arm 14A, 16A at the elbow joint 14C, 16C.

In the exemplary implementation as shown, each of the arms <NUM>, <NUM> also has an end effector <NUM>, <NUM> operably coupled to the distal end of the forearm 14B, 16B. An end effector can also be referred to herein as an "operational component," and various embodiments will be discussed herein below in further detail.

In one implementation, each of the arms <NUM>, <NUM> has six degrees of freedom. That is, as explained in further detail below, each arm <NUM>, <NUM> has three degrees of freedom at the shoulder joint <NUM>, <NUM>, one degree of freedom at the elbow joint 14C, 16C, and two degrees of freedom at the end effector <NUM>, <NUM> (which can be, in certain embodiments, rotated - end effector roll - and opened/closed). As such, the six degrees of freedom of each arm <NUM>, <NUM> are analogous to the degrees of freedom of a human arm, which also has three degrees of freedom at the shoulder and one at the elbow. One advantage of an arm having four degrees of freedom (with an end effector having two degrees of freedom) is that the end effector can have multiple orientations at the same Cartesian point. This added dexterity allows the surgeon or other user more freedom and a more intuitive sense of control while operating the device.

The camera component <NUM>, as shown in <FIG> in accordance with one embodiment, is easily insertable into and removable from the body <NUM>. As shown, the camera component <NUM> has a handle <NUM>, a camera body or tube <NUM>, a distal tube end 18A having a camera lens <NUM>, and two shoulders <NUM>, <NUM> defined at the distal end of the handle <NUM>. That is, the first shoulder <NUM> has a first diameter and the second shoulder <NUM> has a second diameter that is larger than the first diameter.

According to one embodiment, <FIG> depict the proximal end of the device body <NUM> having sealed electrical connections or connectors <NUM>, <NUM>, a support rod <NUM>, a latch <NUM> and a head <NUM> with an opening <NUM> defined in the body <NUM>. As discussed in relation to <FIG> herein, in these implementations, the support rod is configured to be attached to the support arm to dispose the device for use.

In various implementations, the electrical connectors <NUM>, <NUM> can provide robot power and bus communications required for robot functionality, including power and communications connectors, bipolar cautery connectors and monopolar cautery connectors, such as LEMO® push-pull circular connectors. In certain implementations, three connectors can be provided. In the implementation of <FIG>, the first electrical connector <NUM> is configured to send and receive robot power and bus communications and the second electrical connector <NUM> is configured for combined cautary mono- and bipolar connectivity. Alternatively, the three connectors may be combined into a single integrate custom connector, In yet a further alternative, and as shown in FIGS. 3D-F, a single cable <NUM> integrated directly into the robot can be provided. It is understood that a sealed, strain relieved cable egress location would then exist in this location instead of the connectors <NUM>, <NUM>.

According to these implementations, the opening <NUM> is in fluid communication with a lumen <NUM> that is defined through the length of the body <NUM>. The lumen <NUM> is configured to receive the camera component <NUM> and has a receiving portion (also referred to herein as a "socket portion" or "socket") 62A, a seal portion 62B, and an extended portion 62C.

In certain implementations, the socket portion 62A is configured to be "tight fitting," that is, it is configured to mate with the camera component <NUM> handle <NUM> to react or resist all loads or prevent all rotational and translational motion. In various implementations, the latch <NUM> is disposed within the socket portion 62A so as to be capable of coupling to the clasping portion <NUM> of the camera component <NUM>.

In various implementations, a seal or seals 63A, 63B are provided in the seal portion 62B, so as to maintain a fluidic seal around the camera <NUM> as it is disposed in the lumen <NUM>. The seal portion 62B is distal in relation to the receiving portion 62A and is configured to house a seal or seals 63A, 63B against the wall <NUM> of the lumen <NUM>, as is described in relation to FIGS.

In the implementation depicted in <FIG> and 3A-F, the device utilizes a first seal 63A that is a one-way duckbill seal, though it is understood that various other one-way seals can be used in alternate embodiments. In these implementations, a second seal 63B - which can be an O-ring carrier seal - is also disposed proximally to the first seal 63A. As shown in <FIG> and 3C-F, in various implementations, the O-ring carrier seal 63B comprises an O-ring <NUM> configured to urge the first seal 63A distally. It is understood that in various implementations, the O-ring can provide a seal against the camera component <NUM>, while the O-ring carrier seal 63A can provide a seal against the lumen 62A against the escape of gasses or fluids as described herein.

As described below, in these implementations, when the seals are installed, the O-ring carrier seal 63B compresses on the lip 63A1 of the first seal 63A, thereby creating a seal against the inner wall of the housing (shown at <NUM>). The use of first and second seals 63A, 63B in certain implementations provides certain advantages described herein. In situations when the camera component <NUM> is not present, the pressure from the abdominal cavity will cause the one-way duck bill seal 63A to close and prevent the loss of that pressure. In situations where the camera present, the camera and tube <NUM> will cause duck bill seal 63A to be open and allow passage into the lumen <NUM>, while the O-ring <NUM> and O-ring carrier seal 63A will seal against the rigid camera tube <NUM> and lumen <NUM>, respectively, to maintain cavity pressure. It is understood that further implementations are of course possible.

As shown in FIGS. 3A-F, in various implementations, an elongate insertion component <NUM> is provided, which allows the insertion and removal of the seal or seals 63A, 63B for replacement and / or cleaning. As is shown in <FIG>, the insertion component <NUM> can have a seal coupling ring <NUM> with mounting projections 13A, 13B configured to mate to a seal such as the O-ring carrier seal 63B and maintain the rotational position of the seal while it is being disposed in the lumen <NUM>. In various implementations, ridges <NUM> can also be provided to secure the seal in place. Returning to <FIG>, the distal end of the receiving portion 62A is defined by a shoulder <NUM> that is configured to receive the insertion component <NUM>. At least one channel <NUM> is defined in a portion of the shoulder <NUM> and the lumen <NUM> as shown and is configured to receive a corresponding protrusion or protrusions 67A, 67B disposed on the O-ring carrier seal 63B such that the protrusion or protrusions 67A, 67B can be positioned in and slid along the channel <NUM>, thereby allowing for the seals 63A, 63B to be place and locked into position in the lumen <NUM>. The insertion component <NUM> can subsequently be removed, such that the seals 63A, 63B are contained within the lumen <NUM> for use.

More specifically, the channel <NUM> is defined in the lumen <NUM> with a longitudinal length 66A and a radial length 66B. In certain implementations, the channel <NUM> is tapered along the longitudinal length 66A. As such, a protrusion 67A is positioned in the longitudinal length 66A and the insertion component <NUM> is advanced distally until the protrusion 67A reaches the end of the longitudinal length 66A. At this point, the insertion component <NUM> can be rotated around its longitudinal axis such that the protrusion 67A is advanced along the radial length 66B. As shown in <FIG>, the mounting projections 13A, 13B can prevent the rotation of the O-ring seal 63B relative to the insertion component <NUM> during this rotation. Further the rigid O-ring <NUM> provides sufficient distal force against the first seal 63A such that it is fixed into place as a result of this rotation and locking. The resulting coupling of the seals 63A, 63B within the lumen is a mechanical coupling that is sufficiently strong for a user to pass the camera component <NUM> through the seals 63A, 63B for use without dislodging the seals 63A, 63B.

<FIG> depict an exemplary implementation of the camera component <NUM>. The camera component <NUM> in this specific implementation is configured to be removably incorporated into a robotic device body <NUM>, as is shown in <FIG>. More specifically, the camera component <NUM> is configured to be removably positioned through the lumen <NUM> defined in the device body <NUM> such that the camera component <NUM> is inserted through the proximal opening <NUM>, receiving portion into the receiving portion 62A, through the seal portion 62B and seal or seals 63A, 63B, and into the extended portion 62C such that a distal portion of the camera component 18A and camera lens <NUM> protrudes from the distal opening 60A (as best shown in <FIG>).

As shown in <FIG>, this camera component <NUM> embodiment has a controller (also referred to as a "handle") <NUM> and an elongate component (also referred to herein as a "tube") <NUM> operably coupled at its proximal end to the handle <NUM>. As best shown in <FIG>, the tube <NUM> has a rigid section 42A, a flexible section 42B, and an optical section 42C. As such, in these implementations the camera component has two degrees of freedom: pan (left and right rotation) and tilt, meaning looking "up and down" in the surgical workspace. Further discussion of these degrees of freedom can be found in relation to <FIG>.

In one embodiment, the handle <NUM> is configured to contain local electronics for video transmission, along with actuators and associated mechanisms (as are best shown in relation to <FIG>) for actuating pan and tilt functionality of the tube <NUM>. It is understood that the local electronics, actuators, and associated mechanisms can be known, standard components. In a further implementation, the handle <NUM> can also contain a light engine. Alternatively, the light engine can be a separate component, and a light cable can operably couple the light engine to the handle.

According to one implementation, the rigid section 42A of the tube <NUM> is substantially rigid and contains appropriate wires and optical fibers as necessary to operably couple to the optical component in the optical section 42C to the handle <NUM>. The substantial rigidity of the rigid section 42A allows for easy manipulation of the tube <NUM>, including easy insertion into the lumen <NUM>.

The flexible section 42B, in accordance with one embodiment, is configured to allow for movement of the optical section 42C between a straight configuration in <FIG> and a tilted configuration as shown in <FIG>, or any position in between. The optical section 42C is substantially rigid, much like the rigid section 42A, and contains the optical element, along with appropriate local electronics.

Accordingly, various implementations of the camera component <NUM> of this implementation have two mechanical degrees of freedom: pan (look left/right) and tilt (look up/down). In use, the camera component <NUM> has pan and tilt functionality powered and controlled by the actuators and electronics in the handle <NUM>. In various implementations, the handle <NUM> further comprises a button <NUM> and camera clasp <NUM> configured to mate with the latch <NUM>, as is shown in further detail in <FIG>.

The tilt functionality relates to tilting the optical section 42C such that the camera <NUM> is oriented into the desired workspace, as is discussed further in relation to <FIG>. This tilting can be accomplished via a cable that is operably coupled to the flexible section 42B or the optical section 42C such that actuation of the cable causes the optical section 42C to tilt by bending the flexible section 42B as shown for example in <FIG> and <FIG>. Alternatively this tilt function can be achieved by any other known mechanism or method for bending the tube <NUM> at the flexible section 42B.

As shown in the implementations of <FIG>, the camera component <NUM> houses several internal electrical and mechanical components capable of operation and movement of the camera <NUM>, tube <NUM> and other operative components. In various implementations, the camera component <NUM> has a presence sensing system configured to detect the insertion of the component <NUM> into the lumen <NUM>. Further, to prevent damage, in certain embodiments, the camera component <NUM> is configured to provide a "mechanical lockout," such that the camera component <NUM> cannot be removed unless the tube <NUM> is in the "straight" (tilt = <NUM>°) configuration.

As discussed above, <FIG> depict an implementation of the device <NUM> where the camera component <NUM> has been inserted into the lumen <NUM> of the body <NUM>. In these implementations, following the placement of the seals 63A, 63B in the seal portion 62B (as described in relation to FIGS. 3A-F), the camera component <NUM> can be inserted into the lumen <NUM> and the latch <NUM> engaged.

As shown in <FIG>, in certain implementations, the camera component <NUM> comprises a light guide post <NUM>, an actuation connector <NUM> and / or a coax connector <NUM>. In various implementations, the light guide post 74facilitates the transference of light from an external light generator to the fiber optics in the camera. An actuation connector <NUM> can provide power and communications functions such as robotic and camera power and communications functions discussed below in relation to <FIG>. In various implementations, the coax connector <NUM> can provide additional functionality, such as transmission of video signal, as is described herein in relation to <FIG> and <FIG>. In various implementations, the fiber optic cable <NUM> is in operational and luminary communication with the light guide post and extends distally into the lumen (not shown). Further, a communications line <NUM> extends with the fiber optic cable <NUM> in these implementations, as is discussed further in relation to <FIG>.

The implementation of <FIG> depicts one implementation of the camera component <NUM> having a mechanical lockout. In certain of these implementations, depressing the handle button <NUM> can activate the re-orientation of the tube <NUM> into the straight orientation, so as to allow for removal of the camera component when tilt = <NUM>°. In this implementation, the camera clasp <NUM> is disposed on a clasping member <NUM> which also comprises the button <NUM>, such that depressing the button <NUM> results in the pivoting of the clasping member around a clasp pivot <NUM> that is rotationally coupled to the camera housing (not shown), such that a plunger <NUM> disposed adjacent to the clasping member so as to be capable of being urged inward in response to the actuation of the button <NUM>.

In various implementations, the plunger <NUM> end 88A is aligned with a slot 90A in the lead screw nut <NUM>, which is linearly translated in response to camera tilt, as is described in further detail below. In these implementations, slot 90A and plunger <NUM> alignment only occurs when the camera tube <NUM> is in the "straight" orientation. In these implementations, the plunger is also fixedly attached to a trigger arm <NUM>, such that when the arm is displaced - even slightly - the arm triggers a limit switch <NUM>, initiating a "go-straight" subroutine, thereby straightening the camera. It is understood that the length of plunger <NUM> in these implementations is such that it is unable to enter the slot 90A when the camera is tilted (as described below in relation to <FIG>, so that that clasp <NUM> will not disengage from the robot when slot 90A is not aligned.

It is understood that in certain implementations, the "go-straight" subroutine is triggered in response to the actuation of the button <NUM>, regardless of whether the plunger end 88A enters the slot 90A. In these implementations, and as best shown in <FIG>, the space between the non-slotted portions (shown generally at <NUM>) of the lead screw nut <NUM> and the plunger end 88A is less than the distance of the overlap between the clasp 72A and latch edges 56A (shown in <FIG>), thereby preventing unclasping. In these implementations, the distance between the trigger arm <NUM> and limit switch <NUM> is also less than the distance between the space between the non-slotted portions (shown generally at <NUM>) of the lead screw nut <NUM> and the plunger end 88A, such that the limit switch <NUM> will be actuated in response to the actuation of the button <NUM> whether or not the plunger end 88A enters the slot 90A. In certain implmentations, an actuator spring <NUM> is operationally coupled to the plunger <NUM> to urge the plunger outward, thereby keeping the clasp <NUM> and button <NUM> tensioned when not in use.

As best shown in the implementation of <FIG>, camera tilt is driven by a tilt actuator <NUM> disposed within the handle <NUM>. The tilt actuator <NUM> in these implementations can be a <NUM> Maxon BLDC motor, or other such actuator. In these implementations, the tilt actuator <NUM> is capable of causing translational movement in the lead screw nut <NUM>. In these implementations, the tilt actuator <NUM> drives a planetary gearhead and spur gear <NUM>, which is coupled to a drive gear <NUM>. In these implementations, the drive gear <NUM> is in rotational communication with the lead screw <NUM>. In these implementations, rotation of the lead screw <NUM> within the lead screw nut <NUM> causes translational motion of the lead screw nut <NUM> and optionally a cable coupler assembly <NUM> fixedly attached to the lead screw nut <NUM> exterior. It is understood that in these implementations the lead screw nut <NUM> is rotationally coupled, but linearly decoupled, from the pan shaft <NUM>, such that rotation of lead screw <NUM> causes linear translation of lead screw nut <NUM>. In various implementations, an actuation cable (best shown at 120A, 120B in <FIG>) is fixedly coupled to coupler assembly <NUM> such that translation of the lead screw nut <NUM> and cable coupler assembly <NUM> causes tilt actuation to occur.

As shown in <FIG>, In various implementations, tilt functionality can be accomplished via the following configuration. In this embodiment, the flexible section 42B includes an elbow joint <NUM> and a pair of tilt cables 120A, 120B, wherein each of the tilt cables 120A, 120B is operably coupled at its distal end to the optical section 42C. In various implementations, and as shown, the cables 120A, 120B comprise a teflon sheathing 120C, 120D. In these implementations, the sheathings can remain static, while the cables 120A, 120B disposed within are able to slide relative to the sheathing as described generally herein.

The first tilt cable 120A is depicted in <FIG> is an active tilt cable 120A that is coupled on one side of the optical section 42C in relation to the joint <NUM> as shown such that urging the cable 120A proximally causes the optical section 42C to tilt upward on that side, as is designated by reference arrow C. The second tilt cable 120B is a passive tilt cable 120B that is coupled on the other side of the optical section 42C in relation to the joint <NUM> and the first title cable 120A. The second tilt cable 120B is not actuated by a user. Instead, the second tilt cable 120B is maintained at a predetermined level of tension by a passive spring <NUM> such that the cable 120B is continuously urged in the proximal direction, thereby urging the optical section 42C into a straight configuration such as that shown in <FIG>.

As such, in this implementation of <FIG>, the default position of the optical section 42C will be the straight configuration. That is, the tensioned passive tilt cable 120B causes the optical section 42C to be in the straight configuration when no forces are being applied to the active tilt cable 120A by the cable coupler assembly <NUM>. A user can cause proximal movement of the cable coupler assembly <NUM> through the lead screw nut, as described above, causing the active title cable 120A to be urged proximally to tilt the optical section 42C. In response to other activities, such as depressing the button <NUM>, the cable 120A can be caused to allow the section 42C to return to the straight configuration by way of the spring <NUM> and return cable 120B. The straight configuration of <FIG> makes it easy to position the camera component <NUM> into the lumen <NUM> and further to remove the camera component <NUM> from the lumen <NUM> as well. In use, a user can urge the active cable 120A proximally to tilt the optical section 42C as desired/needed. In alternative embodiments, the system can have an actuation button (or other type of user interface) (not shown) that can be configured to actuate the system to move to the straight configuration, thereby facilitating easy insertion and/or removal.

The pan functionality is accomplished via rotation of the tube <NUM> around the longitudinal axis of the tube <NUM> as shown by arrow D in <FIG>. The rigid section 42A, the flexible section 42B, and the optical section 42C of the tube (not shown) are coupled together such that the sections 42A, 42B, 42C cannot rotate in relation to each other. In other words, the sections 42A, 42B, 42C rotate together as a single unit. The tube <NUM>, however, is rotatably coupled to the handle <NUM> such that the tube <NUM> can rotate as shown by arrow D in relation to the handle <NUM>. As a result, the panning functionality is provided by positioning the optical section 42C in a tilted configuration (such as the configuration of <FIG>) and rotating the tube <NUM> in relation to the handle <NUM>. This results in the optical component in the optical section 42C being rotated around the tube <NUM> axis such that it can potentially capture images up to and including 360º around the camera component <NUM>. In certain implementations, pan is limited to smaller ranges, such as 100º , such as by way of a hard stop <NUM>, as shown in <FIG>. In these implementations, the hard stop <NUM> rotates with the tube <NUM> and tube head <NUM> (or lead screw <NUM>), while the tube housing <NUM> (or lead screw nut <NUM>) maintains a fixed position, thereby limiting the range of tube <NUM> motion, as the hard stop <NUM> is unable to rotate through the tube housing <NUM>. A hard stop opening 133A can also be provided in the tube head <NUM>, as is shown in <FIG>. It is understood that in certain implementations, the limiting of pan range is done because of wire service loops.

As such, in the implementation of <FIG>, pan functionality is performed by way of a pan actuator <NUM> disposed within the handle <NUM>, which is best shown in <FIG>. The pan actuator <NUM> in these implementations can be a <NUM> Maxon BLDC motor, or other such actuator. In these implementations, the pan actuator <NUM> is capable of causing rotational movement in the tube <NUM>. In these implementations, the pan actuator <NUM> drives a planetary gearhead and spur gear <NUM>, which is coupled to a drive gear <NUM>. In these implementations, the drive gear <NUM> is in rotational communication with the pan shaft <NUM>, which in turn is in rotational communication with the tube <NUM>. It is understood that in these implementations the pan shaft <NUM> is rotationally coupled to the tube <NUM>, such that rotation of the pan shaft <NUM> causes rotation of the entire tube <NUM>, including the optical portion 42C, thus resulting in pan functionality. <FIG> depict further implementations of the internal components of the camera handle <NUM>, showing the pan actuator <NUM> and tilt actuator <NUM> disposed within the handle housing (not shown).

In these implementations, the pan assembly (generally at <NUM>) has a ground slot <NUM> (which does not rotate) and a pan shaft slot <NUM> (which rotates), both being configured such that wires (not shown) may pass through the slots <NUM>, <NUM> safely and not be damaged during pan actuation.

For example, as is shown in <FIG>, the image sensor power / communication lines <NUM> and the fiber optic illumination cable <NUM> are routed over a support <NUM> and pass through the slots <NUM>, <NUM> in the to enter the camera tube <NUM> and extend to the lens <NUM>. At least one handle rigid-flex PCB component , or "PCB" <NUM> is also provided to control various the camera handle functions, such as tilt and pan. It is understood that in certain implementations, a third degree of freedom is attainable with digital (software) based zoom.

<FIG> and <FIG> depict various internal views of the flexible section 42B and distal camera components.

The implementation of <FIG> has a camera lens <NUM> which contains a stack 48A of lenses configured to optimize, among other parameters, field of view (such as approximately <NUM> degrees) and depth of field (approximately <NUM>" to <NUM>" focal range). A plurality of fiber optic lights <NUM> are also disposed in a lens housing <NUM>. As is shown in <FIG>, in various implementations, these fiber optics 160A, 160B, 160C can be disposed on opposite sides of the lens <NUM> (<FIG>) or radially around and / or "under" the lens <NUM> (<FIG>). These fiber optics 160A, 160B, 160C are in luminary communication with the fiber optic cable or cables 80A, 80B extending down from the handle, asdiscussed above, for example in relation to FIG 6F.

In the implementation of <FIG>, an image sensor <NUM> (such as an OmniVision <NUM> IC, capable of 1080p @ <NUM> fps) is disposed behind the lens stack 48A on flex tape <NUM>. In these implementations, the image sensor <NUM> or sensors outputs data in a MIPI format through the flex tape <NUM>, which is in turn threaded through the flexible portion 42B. The flex tape <NUM> terminates at a termination point 166A into a rigid PCB <NUM> at the distal end of the camera tube (not shown). It is understood that the flexible tube portion 42B in the implementation of <FIG> comprises a plurality of articulating members 170A, 170B, 170C, as has been previously described, though other implementations are possible.

In various embodiments, and as shown generally in <FIG>, the sensor image signal (box <NUM>) from the flex tape <NUM> is converted in the camera (box <NUM>) from MIPI to LVDS by an FPGA (box <NUM>) on the PCB <NUM>. In an exemplary implementation, this LVDS signal is then transmitted through the internal camera harness, through the connector on the camera handle, through the <NUM>' camera pigtail, through a connector pair, through a <NUM>' harness, through a panel mount connector on the surgeon console, through the surgeon console internal harness to a panel mount connector on the CCU (camera control unit - box <NUM>), through the internal CCU harness, into the daughter card.

In the implementation of <FIG>, the CCU (box <NUM>) translates the LVDS signal to parallel data (boxes <NUM> and <NUM>), then to an HDMI output. The HDMI output is routed to the surgeon console computer (box <NUM>) to an onboard video processing card (box <NUM>). In various implementations, the video processing card (box <NUM>) mixes the camera feed with GUI overlays (box <NUM>), such that the mixed signal can be passed to the main monitor (box <NUM>) on the surgeon console (box <NUM>) where it is viewed. This signal is also mirrored on an HDMI output on the surgeon console connector panel, where it may be routed to an auxiliary monitor. It is understood that there are many different signaling protocals that may be used. In one example, the rigid PCB <NUM> at the distal end of the rigid tube <NUM> may convert the MIPI data to serial data instead and transmit the serialized signal along a coaxial cable back to the CCU. In another example, the video processing card (box <NUM>) and GUI overlays (box <NUM>) may be omitted, and the video signal may be routed directly from the CCU to the main display. In a further example, the video signal may be mirrored from the main display (box <NUM>) instead of (or in addition to) the surgeon console connector panel.

<FIG> and 9A-D according to one embodiment, depict the internal components of the body <NUM>, which is shown in these figures without its casing <NUM>. <FIG>depict the right half of the body <NUM> and the internal components that control/actuate the right arm 14A. It is understood that the internal components in the left half (not shown) that operate/control/actuate the left arm 14B are substantially the same as those depicted and described herein and that the descriptions provided below apply equally to those components as well.

<FIG>include the internal structural or support components of the body <NUM>. In one implementation, the body <NUM> has an internal top cap <NUM> and an internal support shell <NUM> as shown. These components maintain the structure of the body <NUM> and provide structural support for the components disposed therein. <FIG> is an enlarged view of the distal end of the body <NUM>.

In contrast to <FIG>, <FIG> depict the internal actuation and control components of the body <NUM> with the internal structural or support components hidden in order to better display the internal actuation and control components. These internal actuation and control components are configured to provide two degrees of freedom at the shoulder joint <NUM>, <NUM>.

In one embodiment, certain of the internal components depicted in <FIG> are configured to actuate rotation at the shoulder joint <NUM>, <NUM> around axis A (as best shown in <FIG>), which is parallel to the longitudinal axis of the body <NUM>. This rotation around axis A is also referred to as "yaw" or "shoulder yaw. " The rotation, in one aspect, is created as follows. A yaw actuator <NUM> is provided that is, in this implementation, a yaw motor assembly. The yaw motor assembly <NUM> is operably coupled to the yaw motor gear <NUM>, which is coupled to the driven gear <NUM> such that rotation of the yaw motor gear <NUM> causes rotation of the driven gear <NUM>. The driven gear <NUM> is fixedly coupled to a transmission shaft <NUM>, which has a transmission gear <NUM> at the opposite end of the shaft <NUM>.

The transmission gear <NUM> is coupled to a driven gear <NUM>, which is fixedly coupled to the shaft <NUM>. A magnet holder <NUM> containing a magnet is also operably coupled to the transmission gear <NUM>. The holder <NUM> and magnet are operably coupled to a magnetic encoder (not shown). It is understood that the magnet holder <NUM>, magnet, and magnetic encoder (and those similar components as discussed elsewhere herein in relation to other joints) are components of an absolute position sensor that is the same as or substantially similar to one or more of the absolute position sensors disclosed in <CIT>.

The shaft <NUM> is fixedly coupled at its distal end to a rotatable pitch housing <NUM> (as best shown in <FIG>) such that rotation of the driven gear <NUM> causes rotation of the shaft <NUM> and thus rotation of the housing <NUM> around axis A as shown in <FIG> and <FIG> (this is also shown in <FIG> at axis Z<NUM>).

According to one implementation, certain other internal components depicted in <FIG> are configured to actuate rotation of the shoulder joint <NUM>, <NUM> around axis B (as best shown in <FIG> and <FIG>), which is perpendicular to the longitudinal axis of the body <NUM>. This rotation around axis B is also referred to as "pitch" or "shoulder pitch. " The rotation, in one embodiment, is created as follows. A pitch actuator <NUM> is provided that is, in this implementation, a pitch motor assembly <NUM>. The pitch motor assembly <NUM> is operably coupled to a motor gear <NUM>, which is coupled to the driven gear <NUM> such that rotation of the motor gear <NUM> causes rotation of the driven gear <NUM>. The driven gear <NUM> is fixedly coupled to a transmission shaft <NUM>, which has a transmission gear <NUM> at the opposite end of the shaft <NUM>. The transmission gear <NUM> is coupled to a driven gear <NUM>, which is fixedly coupled to the shaft <NUM>. A magnet holder <NUM> containing a magnet is also operably coupled to the driven gear <NUM>. The holder <NUM> and magnet are operably coupled to a magnetic encoder (not shown). As best shown in <FIG>, a portion of the shaft <NUM> is disposed within the lumen 216A of the shaft <NUM> described above and extends out of the distal end of the shaft <NUM> into the housing <NUM>. As best shown in <FIG>, the distal end of the shaft <NUM> is coupled to a rotation gear <NUM> that is a bevel gear <NUM>. The rotation gear <NUM> is operably coupled to link gear <NUM>, which is also a bevel gear <NUM> according to one implementation. The link gear <NUM> is operably coupled to the shoulder link 16A (discussed above) such that rotation of the shaft <NUM> causes rotation of the rotation gear <NUM> and thereby the rotation of the link gear <NUM> and thus rotation of the link 16A around axis B as best shown in FIG. 9D, also shown in <FIG> at axis Z<NUM>.

In this embodiment, these two axes of rotation are coupled. That is, if solely rotation around axis A (pure yaw) is desired, then the "pitch drive train" (the pitch motor <NUM> and all coupled gears and components required to achieve rotation around axis B) must match the speed of the "yaw drive train" (the yaw motor <NUM> and all coupled gears and components required to achieve rotation around axis A) such that there is no relative angular displacement between the pitch housing <NUM> and the rotation gear <NUM>. In contrast, if solely rotation around axis B (pure pitch) is desired, then the yaw drive train must hold position while the pitch drive train is actuated.

In one implementation as shown in <FIG>, the body <NUM> has a rigid-flex PCB <NUM> positioned in the body. The PCB <NUM> is operably coupled to and controls the motors <NUM>, <NUM> and magnetic encoders (not shown). In one implementation, and as shown in <FIG>, <FIG> and elsewhere the various actuators or motors described herein have at least one temperature sensor <NUM> disposed on the surface of the motor, for example by temperature-sensitive epoxy, such that the temperature sensors <NUM> can collect temperature information from each actuator for transmission to the control unit, as discussed below. In one embodiment, any of the motors discussed and depicted herein can be brush or brushless motors. Further, the motors can be, for example, <NUM>, <NUM>, or <NUM> diameter motors. Alternatively, any known size that can be integrated into a medical device can be used. In a further alternative, the actuators can be any known actuators used in medical devices to actuate movement or action of a component. Examples of motors that could be used for the motors described herein include the EC <NUM> BLDC + GP10A Planetary Gearhead, EC <NUM> BLDC + GP8A Planetary Gearhead, or EC <NUM> BLDC + GP6A Planetary Gearhead, all of which are commercially available from Maxon Motors, located in Fall River, MA. There are many ways to actuate these motions, such as with DC motors, AC motors, permanent magnet DC motors, brushless motors, pneumatics, cables to remote motors, hydraulics, and the like.

As also described herein, each link (body, upper arm, and forearm) can also contain Printed Circuit Boards (PCBs) that have embedded sensor, amplification, and control electronics. For example, in certain implementations, identical PCBs <NUM>, <NUM>, <NUM>, <NUM>, <NUM> are used throughout where each one controls two motors. One PCB is in each forearm and upper arm and two PCBs are in the body. Each PCB also has a full <NUM> axis accelerometer-based Inertial Measurement Unit and temperature sensors that can be used to monitor the temperature of the motors. Each joint can also have either an absolute position sensor or an incremental position sensor or both. In certain implementations, the some joints contain both absolute position sensors (magnetic encoders) and incremental sensors (hall effect). Joints <NUM> & <NUM> only have incremental sensors. These sensors are used for motor control. The joints could also contain many other types of sensors. A more detailed description of one possible method is included here.

<FIG> shows the robot motions. As shown in relation to <FIG>, the shoulder joint <NUM> connects the upper arm 14A to the body <NUM>. Shoulder yaw (θ<NUM> about Z<NUM>), shoulder pitch (θ<NUM> about Z<NUM>) and shoulder roll (θ<NUM> about Z<NUM>) may or may not have the three axes largely intersect so as to form a spherical-like joint. The elbow joint 14C (θ<NUM> about Z<NUM>) connects the upper arm 14A to the forearm 14B. Then the tool can roll (θ<NUM> about Z<NUM>). Finally, the tool itself (or end effector) has a motion that can be used to open and close the tool. The right arm <NUM> of this design is a mirror image of the left <NUM>. <FIG>, according to one embodiment, depict the internal components of the right arm <NUM>. It is understood that the internal components in the left arm <NUM> are substantially the same as those depicted and described herein and that the descriptions provided below apply equally to those components as well.

<FIG> and <FIG>, according to one embodiment, depict the internal components of the right upper arm 14A, which is shown in <FIG> and <FIG>without its housing <NUM>. More specifically, these figures depict the right arm 14A and the internal components therein. <FIG> depict the internal components of the right upper arm 14A, including actuators, drive components, and electronics, with the internal structural or support components hidden in order to better display the internal components. In contrast to <FIG>, <FIG> include both the internal actuator, drive, and electronics components, but also the internal structural or support components of the right upper arm 14A.

In one embodiment, certain of the internal components depicted in <FIG> and <FIG> are configured to actuate rotation at the shoulder link <NUM> around Z<NUM> as θ<NUM>(as best shown in <FIG>), which is parallel to the longitudinal axis of the right upper arm 14A. This rotation θ<NUM> is also referred to as "shoulder roll. " The rotation, in one aspect, is created as follows. An actuator <NUM> is provided that is, in this implementation, a motor assembly <NUM>. The motor assembly <NUM> is operably coupled to the motor gear <NUM>. The motor gear <NUM> is supported by a bearing pair <NUM>. The motor gear <NUM> is coupled to the driven gear <NUM> such that rotation of the motor gear <NUM> causes rotation of the driven gear <NUM>. The driven gear <NUM> is fixedly coupled to the shoulder link (not shown) such that rotation of the driven gear <NUM> causes rotation of the upper arm 14A around axis Z<NUM> as shown in <FIG>. The driven gear <NUM> is supported by a bearing pair <NUM>. A magnet holder <NUM> containing a magnet is also operably coupled to the driven gear <NUM>. The holder <NUM> and magnet are operably coupled to a magnetic encoder, as has been previously described.

The rotation of the shoulder link <NUM> around axis Z<NUM> causes the right upper arm 14A (and thus the forearm 14B) to rotate in relation to the body <NUM>. According to one embodiment, this rotation adds an additional degree of freedom not provided in prior two-armed surgical devices.

According to one implementation, certain of the internal components depicted in <FIG> are configured to actuate rotation at the elbow link 14C around axis Z<NUM> (as best shown in <FIG>), which is perpendicular to the longitudinal axis of the right upper arm 14A. This rotation around axis Z<NUM> is also referred to as "elbow yaw. " The rotation, in one aspect, is created as follows. An actuator <NUM> is provided that is, in this implementation, a motor assembly <NUM>. The motor assembly <NUM> is operably coupled to the motor gear <NUM>, which is a beveled gear in this embodiment. The motor gear <NUM> is supported by a bearing <NUM>. The motor gear <NUM> is coupled to the driven gear <NUM> such that rotation of the motor gear <NUM> causes rotation of the driven gear <NUM>. The driven gear <NUM> is fixedly coupled to the elbow link 14C such that rotation of the driven gear <NUM> causes rotation of the elbow link 14C around axis Z<NUM> as shown in <FIG>. The driven gear <NUM> is supported by a bearing pair <NUM>. A magnet holder containing a magnet is also operably coupled to the elbow link 14C. The holder and magnet are operably coupled to a magnetic encoder <NUM>. According to one embodiment, the additional coupling of a link gear <NUM> and the elbow link 14C can provide certain advantages, including an additional external reduction (because the gear <NUM> has fewer gear teeth than the elbow link 14C) and shortening of the upper arm 14A (thereby improving the joint range of motion). The gear <NUM> is coupled to another gear which has the magnetic holder <NUM> on it. Additionally, this other gear (not shown) has a torsion spring attached to it, which functions as an anti-backlash device.

As shown in <FIG>, the upper arm 14A can have at least one rigid-flex PCB <NUM> positioned therein. In one embodiment, the PCB <NUM> is operably coupled to and controls the motors <NUM>, <NUM> and magnetic encoders (coupled to the holders <NUM>). In these implementations, flex tapes <NUM> can be used to communicate with the PCB <NUM>, motors <NUM>, <NUM> and magnetic encoders, as would be appreciated by a skilled artisan. According to another embodiment, at least one connection component is associated with the upper arm 14A. More specifically, in this implementation, a power/communication line and the cautery power line enter through a port (not shown) at the proximal end of the upper arm 14A and exit through a port (not shown) at the distal end, as has been previously described.

As set forth below, each forearm 14B, 16B also has two electrically isolated cautery circuits, enabling both bipolar and monopolar cautery end effectors. Certain embodiments are configured to allow for easy removal and replacement of an end effector (a "quick change" configuration). Further embodiments contain sealing elements that help to prevent fluid ingress into the mechanism.

<FIG> depict various embodiments of a right forearm 14B. <FIG> show the forearm 14B without its housing <NUM>. The various implementations disclosed and depicted herein include the actuators, drive components, and electronics that can be used to accomplish both tool roll and tool drive (open/close action), as will be described in further detail below. As set forth below, the forearm 14B also has two electrically isolated cautery circuits, enabling both bipolar and monopolar cautery end effectors. Certain embodiments are configured to allow for easy removal and replacement of an end effector <NUM> (a "quick change" configuration). Further embodiments contain sealing elements that help to prevent fluid ingress into the mechanism. As shown in <FIG>, a power and communications lumen <NUM> and cautery lumen <NUM> can be used to allow wires (not shown) to be routed from the body <NUM> to the forearm.

According to one implementation, certain of the internal components depicted in <FIG> and <FIG> are configured to actuate rotation at the end effector <NUM> around axis Z<NUM> (as best shown in <FIG>), which is parallel to the longitudinal axis of the right forearm 14B. This rotation around axis Z<NUM> is also referred to as "tool roll.

The rotation, in one aspect, is created as follows. As best shown in <FIG>, an actuator <NUM> is provided that is, in this implementation, a motor assembly <NUM>. The motor assembly <NUM> is operably coupled to the motor gear <NUM>, which is a spur gear in this embodiment. The motor gear <NUM> is coupled to the driven gear <NUM> such that rotation of the motor gear <NUM> causes rotation of the driven gear <NUM>. The driven gear <NUM> is fixedly coupled to the roll hub <NUM>, which is supported by a bearing <NUM>. The roll hub <NUM> is fixedly coupled to the tool base interface <NUM>, which has an tool lumen <NUM> and external threads 310A which are threadably coupled to the end effector <NUM>. Thus, rotation of the driven gear <NUM> causes rotation of the roll hub <NUM>, which causes rotation of the tool base interface <NUM>, which causes rotation of the end effector <NUM> around axis Z<NUM> as shown in <FIG>.

In one embodiment, certain of the internal components depicted in <FIG> are configured to actuate the end effector to open and close. This rotation of the end effector arms such that the end effector opens and closes is also called "tool drive. " The actuation, in one aspect, is created as follows. An actuator <NUM> is provided that is, in this implementation, a motor assembly <NUM>. The motor assembly <NUM> is operably coupled to the motor gear <NUM>, which is a spur gear in this embodiment. The motor gear <NUM> is coupled to the driven gear <NUM> such that rotation of the motor gear <NUM> causes rotation of the driven gear <NUM>. The driven gear <NUM> is fixedly coupled to a female tool spline <NUM>, which is supported by bearing pair <NUM>. The female tool spline <NUM> is configured to interface with a male tool spline feature on the end effector to open/close the tool as directed.

According to one implementation, the end effector <NUM> can be quickly and easily coupled to and uncoupled from the forearm 14B in the following fashion. With both the roll and drive axes fixed or held in position, the end effector <NUM> can be rotated, thereby coupling or uncoupling the threads 310A. That is, if the end effector <NUM> is rotated in one direction, the end effector <NUM> is coupled to the forearm 14B, and if it is rotated in the other direction, the end effector <NUM> is uncoupled from the forearm 14B.

Various implementations of the system <NUM> are also designed to deliver energy to the end effectors <NUM> so as to cut and coagulate tissue during surgery. This is sometimes called cautery and can come in many electrical forms as well as thermal energy, ultrasonic energy, and RF energy all of which are intended for this robot. Here electrosurgical cautery is described as an example.

In accordance with one embodiment, and as shown in <FIG>, the forearm 14B has two independent cautery channels (referred to herein as "channel A" and "channel B"), which enable the use of either bipolar or monopolar cautery end effectors with this forearm 14B.

In these implementations, the channel A components are set forth in the forearm 14B as shown. A PCB <NUM> is electrically isolated from lead A <NUM> and / or lead B <NUM> a cautery power line (such as discussed below) that is coupled to an external power source. The PCB <NUM> is further electrically coupled to at least one flex tape 330A, 330B which is in electronic communication with the motors <NUM>, <NUM>. As such, energizing lead A in the cautery line <NUM> energizes channel A in the bipolar cautery end effector <NUM>.

As is shown in <FIG>, in certain implementations the end effector <NUM> is disposed within the forearm 14B in a rotor assembly 343A, 343B such that the rotor contacts 341A, 341B and stator contacts or hoops 345A, 345B are in electrical communication with the tool contacts <NUM>, <NUM>. In these implementations, the cautery wire enters through a lumen <NUM> in the back plate of the forearm (as shown in <FIG>). For a bipolar forearm (which uses a pair of conductors), conductor A is soldered to tab A <NUM> on the stator hoop A. Conductor B is soldered to tab B <NUM> on the stator hoop 345B. For the monopolar forearm, there is only <NUM> conductor, so conductor A <NUM> is soldered to tab A <NUM> on the stator hoop 345A and the other stator hoop 345B has no connection.

In various implementations, the stator assembly <NUM> contains the two stator hoops 345A, 345B. The assembly <NUM> is fixed to the forearm 14B and does not move. The rotor assembly <NUM> contains two rotor rings 341A, 341B. The rotor <NUM> is held concentric to the stator <NUM> through a bearing assembly (not shown) and is free to rotate within the stator <NUM>. Each rotor ring 341A, 341B has a pair of leaf spring contacts (best shown in <FIG> at 349A, 349B) which maintain electrical contact to the stator rings 345A, 345B as would be the case for a slip ring.

In these implementations, the rotor rings 341A, 341B extend into the rotor assembly, and the end effectors have a corresponding pair of tool contacts <NUM>, <NUM> disposed toward the proximal end. These tool contacts <NUM>, <NUM> contacts can also have leaf spring protrusions.

In use, when the end effector <NUM> is properly seated within the rotor <NUM>, the leaf spring protrusions of the end effector tool contacts <NUM>, <NUM> press against the internal circumference of the rotor rings 341A, 341B, so as to form an electrical connection. Additionally, the rotor can have as "arrow shaped" protrusions along its internal surface, to create a lead in, so it is self aligning when you install the tool, while the end effector can have matching cut outs. In these implementations, when the end effector is inserted the protrusions and cut outs mate, such that they form a torque transfer feature between the end effector and the rotor assembly. In this way, when the rotor spins via the roll motor, the end effector spins with it. Thus there is no relative motion between the rotor assembly and the end effector <NUM>.

In one implementation, as shown in <FIG> the forearm 14B can be fitted with an insertable bi-polar cautery tool (300A in <FIG>), or an insertable mono-polar cautery tool (300B in <FIG>) designed for single or multiple use.

In these implementations, the end effector 300A, 300B has at least one fluidic seal interface that helps to prevent fluid ingress into the forearm 14B. One such mechanism is a single-piece housing <NUM> according to one embodiment. As best shown in <FIG> the housing <NUM> can have an O-ring <NUM> positioned in a groove defined in the housing <NUM>.

In the specific embodiment of the bi-polar tool 300A of <FIG>, there are two bronze contacts <NUM>, <NUM> at the proximal end of the tool 330A. When inserted, these contacts <NUM>, <NUM> interface with wipers that make an electrical connection between the robot and the tool 300A. As has been previously described, for example in <CIT>, which has been incorporated by reference in its entirety, a wiper is a tensioned component that supported on one end by a mechanical strut. An insulating insert is positioned between the wiper and the mechanical strut. At its free end, the wiper is supported by a preloader. Based on this configuration, the wiper is loaded or urged (like a leaf spring) against tool base interface and thus is electrically coupled to the tool base interface. The tool base interface is mechanically coupled to the end effector 28A and electrically coupled to channel B of that end effector. In these implementations, the wipers and contacts <NUM>, <NUM> are designed so that relative tool motion (tool roll or end effector roll) can occur while maintaining electrical contact between the wiper and contact. These two independent contacts <NUM>, <NUM> are then connect to each of the jaws respectively, such as by solid copper wires <NUM>. The tools are kept electrically isolated from one another using several techniques including a non-conductive divider <NUM>. The electrical energy is then delivered to the tissue held between the two jaws 338A, 338B. In this implementation, a jaw guide <NUM> is also provided.

In the specific embodiment of the bi-polar tool 300B of <FIG>, there are two bronze contacts <NUM>, <NUM> at the proximal end of the tool 330B. When inserted, these contacts <NUM>, <NUM> interface with wipers that make an electrical connection between the robot and the tool 300B. Mono-polar energy from the generator (described in relation to <FIG>) flows via one electrical connection to the tool 300B so that potential energy exists at the tool tip <NUM>. The energy then returns to the generator through the surgical target via the return pad. The cables can contain connectors so as to simplify use and handling of the robot. This figure shows one additional feature in that the outgoing energy is transmitted through a shielded cable and the shield may or may not be connected to the return path. Having the shield connected to the return pad can be a safety feature in that it prevents energy leakage to the patient. Here leaked energy would be very likely to be collected by the shield and safely returned to the generator.

Various implementations of the system have a monopolar cautery power line <NUM> (as shown in <FIG>) and / or bipolar cauter power line <NUM> (as shown in <FIG>) in electrical communication with an at least one external cautery generator <NUM> and the respective monopolar 300B and bipolar 300B end effectors. In the implementation of <FIG>, the monopolar cautery line <NUM> is a single coaxial cable <NUM> which also in electrical communication with a return pad <NUM> for placement elsewhere on the patient's body. In these implementations, a shield 358A can be provided around the central conductor <NUM>. In various implementations, the shield 358A can extend the length of the central conductor <NUM> from the generator <NUM> into the body <NUM> so as to terminate distally (shown at 358B) in the forearm 14B. In certain implementations, a shield tie <NUM> is provided, which electrically ties the shield <NUM> to the return pad <NUM> and / or electrical generator <NUM> to prevent radiation from escaping, as would be understood by the skilled artisan.

In the implementation of <FIG>, a bipolar power line <NUM> provides electrical communication between the bipolar cautery lines 352A, 352B and the external cautery generator <NUM>. In various implementations, the monopolar <NUM> and /or bipolar lines 352A, 352B can connect directly to the body <NUM> or be connected by way of a "pigtail" 360A, 360B, 360C, as has been previously described.

As shown in <FIG>, another fluidic seal can be provided according to another embodiment in the form of a flexible membrane <NUM> (or "sleeve") disposed on the exterior of the arms <NUM>, <NUM>. As shown in <FIG>, in certain implementations the membrane <NUM> is attached at the distal end end <NUM> to the forearm housing 14B, 16B. This membrane <NUM> serves to provide a fluidic seal for the internal components of the arms <NUM>, <NUM> against any external fluids. In one implementation, the seal is maintained whether the end effector <NUM> is coupled to the forearm 14B, 16B or not.

It is understood that large or "bulky" membranes can interfere with the operation of the camera component <NUM>, particularly for membranes <NUM> having a belt, as has been previously described. In various implementations, the presently disclosed membrane <NUM> addresses camera interference. As discussed herein in relation to <FIG>, in certain implementations, the membrane <NUM> can be permanent, while in alternate implementations, and as shown in <FIG>, the membrane <NUM> can be disposable. Alternatively, the membrane <NUM> can be replaced with a metallic bellows, as has been previously described.

In various implementations, the sleeves <NUM> can be fabricated by cutting a pattern out of a thin film extrusion, such that a 2D pattern is cut out of a flat piece of plastic and the sleeve is then formed by bonding the 2D pieces together, such as by ultrasonic welding. Alternatively, thermal bonding or adhesives may be used to create the sleeve. In yet a further alternative, a molding process may be utilized to create these sleeve, as has been previously described. This can include dip molding, injection molding, or other known molding options. It is understood that the permanent sleeves can be made of thicker plastic or other material than disposable sleeves to enhance durability.

As is shown in <FIG>, in certain implementations, a permanent membrane <NUM> is disposed over each of the arms <NUM>, <NUM>. In these implementations, the membrane has a rigid termination component <NUM> at the distal end <NUM>. In certain implementations, and as shown in <FIG>, the termination component <NUM> can use an internal static seal 404A that clips to snap into place and seal with the forearm housing 14B, 16B. In alternate implementations, the membrane <NUM> can be bonded directly to the forearm housing 14B, 16B at the distal end <NUM> using UV cured bio-compatible epoxy. In yet further implementations, the distal end <NUM> can be attached to the forearm housing using mechanical capture between the forearm housing and forearm chassis sub-structure (as is described at the proximal end in relation to <FIG>).

Turning to the implementations of <FIG>, at the proximal end <NUM>, an O-ring assembly <NUM> can be used to "pinch" the membrane <NUM> into a corresponding groove <NUM> in the body <NUM>. As is shown in <FIG>, in these implementations, an outer body housing <NUM> can be provided over the attached membrane <NUM>. In alternate implementations, the membrane <NUM> can be bonded directly at the proximal end <NUM> using UV cured bio-compatible epoxy.

In further implementations, and as shown in <FIG>, a flex-mesh component <NUM> can be used in conjunction with the membrane (not shown) to prevent "sleeve shear" in highly articulated elbow joints 14C. In these implementations, the mesh <NUM> ensures that the sleeve does not collapse into the pinch zones created by the arm joints, such as the elbow 14C and shoulder (generally <NUM>, <NUM>).

In the implementations of <FIG>, a semi-rigid slide guide <NUM> can be used to prevent sleeve shear in the permanent membrane <NUM>. In these implementations, the slide guide <NUM> extends the length of the membrane (not shown) so as to prevent the membrane from entering the space between the joints of the arm (described above). In various implementations, the semi-rigid guide <NUM> can be made of thin teflon, delrin, or other flexible, low friction polymers.

In certain implementations, and as shown in <FIG>, the semi-rigid guide <NUM> is fixed <NUM> at one location, either at the forearm 14B as shown, or on the upper arm (not shown), so as to allow the guard to move linearly relative to the arm if necessary. In the implementations of <FIG>, the semi-rigid guide <NUM> is disposed within a guide bushing <NUM> at the opposite end (here, the proximal end). It is understood that this allows the sliding of the guide as the robot articulates, and
creates a moving barrier to prevent the sleeve from entering the pinch zones.

In the implementations of <FIG>, sleeve geometry can be optimized in a number of ways. Optimization can be achieved by accounting for the required change in length of the sleeve as the arm goes from a straight to a bent configuration. Several different implementations can be used. As is shown in the implementations of <FIG>, the sleeve <NUM> can be fabricated such that excess material - which is required when the arm is bent - is stored/managed when the arm is straight <FIG> depicts a sleeve <NUM> having an "outer box" pleat <NUM>. <FIG> depicts an "inner box" pleat <NUM>. <FIG> depicts a "bent" sleeve <NUM> configuration. Alternatively, as is shown in <FIG>, by fabricating the sleeve with a bent configuration <NUM> such that the bend corresponds to the robots elbow bent to the middle of its range of motion the sleeve was improved to reduce the overall parasitic torque, that is the torque applied to the robot by the sleeve during actuation. Additionally, these implementations can provide an improved "fit," meaning having reduced bunching and / or stretching (as is shown, for example, in <FIG>), and can be easier to clean. Each of these optimizations can also be applied to disposable sleeves.

<FIG> depict various implementations of disposable sleeves <NUM>. In various implementations, the disposable sleeves <NUM> must be easy to install and form a barrier to bio-burden and fluids. In certain circumstances, the sleeves <NUM> may be attached using integrated O-rings that snap into O-Ring grooves, as has been previously described. The sleeves <NUM> may also be attached using integrated adhesive strips 437which attach it to the device <NUM>. As shown in <FIG>, excessive bunching 436A can occur if the sleeves are not properly sized or optimized. In various implementations, adhesive strips <NUM> may be optimally located rotationally around the proximal termination section (such as at the waist of robot) to minimize material buildup in critical zones, such as where the camera exits the lumen.

In use, <FIG> depict the insertion and operation of the device <NUM>, according to exemplary implementations. As has been previously described and discussed further in relation to <FIG>, these steps can be accomplished while the device <NUM> is visualized, for example on a console, using a laparoscope <NUM> inserted into the abdominal cavity from another port.

As shown in <FIG>, during insertion, the device <NUM> is first held above a gel port <NUM> that allows for the abdominal cavity to remain insulated while the gel port <NUM> seals around the irregular shape of the device <NUM>. As shown in <FIG>, the device <NUM> is then is inserted though the gel port <NUM>. The elbows 14C, 16C can then be bent to accommodate further insertion. The device <NUM> can then be inserted further until the arms <NUM>, <NUM> are substantially within the abdominal cavity, as best shown in <FIG>. This then allows the device <NUM> to be rotated and moved to the desired position for surgery, as shown in <FIG>.

<FIG> depicts a gel port <NUM>, according to one implementation. In the embodiment of <FIG>, the gel port <NUM> has first <NUM> and second <NUM> openings, or "slits. " In certain implementations, the passage of the device <NUM> into the gel port <NUM> causes splaying of the arms <NUM>, <NUM>, which can result in patient injury. In these implementations, the slits <NUM>, <NUM> facilitate the retention of the device <NUM> in an upright orientation. In certain of these implementations, the gel port <NUM> has a pair of semi-rigid corals 456A, 456B configured to urge the arms <NUM>, <NUM> centrally and prevent splaying during insertion.

As shown in <FIG>, In certain implementations the robotic device <NUM> is clamped to (or otherwise coupled to) the distal end of the robot support arm <NUM>. The proximal end of the support arm <NUM> is clamped or otherwise coupled to a standard support strut on the operating table. In this embodiment, the support arm <NUM> has <NUM> degrees of freedom, which are manually released by a single knob. In use, the user can release the support arm <NUM> by loosening the knob, move the robotic device <NUM> to a suitable position, then tighten the knob, thereby rigidizing the arm <NUM> and fixing the robotic device <NUM> in place. One example of a commercially-available support arm <NUM> is the Iron Intern™, made by Automated Medical Products Corp.

In use, according to one embodiment as shown in <FIG>, the system <NUM> can operate in the following fashion. A user - typically a surgeon - positions herself at the surgeon console <NUM>. As discussed in further detail below, the console <NUM> can have a visual display <NUM>, a touch screen <NUM> and input components such as foot input devices (also called "foot controllers") <NUM>, and hand input devices (also called "hand controllers") <NUM>. The user can operate the system <NUM> by operating the hand controllers <NUM> with her hands, the foot controllers <NUM> with her feet, and the touch screen (also referred to herein as the "graphical user interface" or "GUI") <NUM> with her hands, while using the visual display <NUM> to view feedback from the camera <NUM> relating to the robot <NUM> positioned in the target cavity of the patient. The console <NUM> is coupled to the robot <NUM> and its components in three different ways in this embodiment. That is, the console <NUM> is coupled directly to the robot <NUM> itself via the cable <NUM> that carries both power and communications between the console <NUM> and the robot <NUM>. Further, the console <NUM> is also coupled to the camera <NUM> on the robot <NUM> via the cable <NUM> that carries both power and communications between the console <NUM> and the camera <NUM>. In addition, the console <NUM> is also coupled to the cautery end effectors 300A, 300B on the robot <NUM> via the cable <NUM> that carries power and communications between the console <NUM> and the cautery end effectors 300A, 300B (as discussed above in relation to <FIG>). In other implementations, the console <NUM> can be coupled to the robot <NUM> via other connection components and/or via other robot components.

According to one embodiment as best shown in <FIG>, the console <NUM> allows the user to control the robotic device <NUM> using the hand controllers <NUM> and/or foot controllers <NUM>. The hand controllers <NUM> and the foot controllers <NUM> can be used to control the arms and other components and functions of the robotic device <NUM>. In various implementations, the device <NUM> is controlled by using the hand controllers <NUM> and/or foot controllers <NUM> to cause the device <NUM> to move in the same way as the hand controllers <NUM> and/or foot controllers <NUM> are moved. More specifically, for example, the right hand controller <NUM> can be used to actuate the right arm of the robotic device <NUM> such that the movement of the hand controller <NUM> causes the right arm of the device <NUM> to replicate or simulate the same motion. For example, if the right hand controller <NUM> is extended outward away from the user, the right arm of the device <NUM> is actuated to extend outward away from device <NUM> in the same direction. The left hand controller <NUM> and left arm of the robotic device <NUM> can operate in a similar fashion. This virtual connection and interaction between the console <NUM> and the robotic device <NUM> can be called a tele-operation (or "tele-op") mode.

One embodiment of an exemplary GUI <NUM> is depicted in <FIG>. In this implementation, various buttons <NUM> are provided which can be used to control the insertion, retraction, and operation of the device <NUM>. More specifically, as shown in <FIG> of this embodiment, the user can select the specific operational page to be displayed on the GUI <NUM>. If the user selects the "Insert" button as shown in <FIG>, then the insertion page is displayed as shown in <FIG>. Thus, the GUI <NUM> can provide the user with the ability to control settings and functions of the robotic surgical system. In various implementations, the touch screen can include settings for motion scaling, camera position, and indicators that show robot modes (cautery state, GUI state, etc) and the like. Further, in the tele-op mode as shown in <FIG>, the display <NUM> can depict a real-time robot animation (generally at <NUM>) that displays the current configuration of the device <NUM>, including the specific positions of the arms of the device <NUM>.

In certain embodiments, the virtual connection between the console <NUM> and device <NUM> as described above can be interrupted using a "clutch. " In one specific implementation, the clutch can be activated using a button <NUM> on the GUI <NUM>. Alternatively, the user can activate the clutch by depressing one of the foot pedals <NUM>. The clutch is activated to break the virtual connection described above, thereby disconnecting the device <NUM> from the console <NUM> such that the device <NUM> and its components enter a "frozen" or "paused" state in which the components of the device <NUM> remain in the last position the components were in when the clutch was activated and until the clutch is deactivated. This clutch feature can be utilized for several different reasons. For example, the clutch feature can be used in an emergency pausing situation in which the device <NUM> components are moving toward a position which one or more of the components might damage the internal tissues of the patient and the clutch activation prevents that. In another example, the clutch feature can be used to reset the virtual connection in the same way that a computer mouse is lifted off the mousepad to reset the connection between the mouse and the cursor on the computer screen. In other words, the clutch feature can be used to reposition the hand controllers to a more desirable position while pausing the device <NUM>.

Certain system embodiments disclosed or contemplated herein can also have hand controllers (such as controllers <NUM> discussed above) that feature haptic feedback. That is, the hand controllers (such as controllers <NUM>) have haptic input devices, which are made up of motors operably coupled to the hand controllers such that the motors can be actuated to apply force to the controllers (such as controllers <NUM>), thereby applying force to the user's hands that are grasping the controllers. This force applied to the user's hands that is created by the haptic input devices is called haptic feedback and is intended to provide information to the user. For example, one use of haptic feedback is to indicate to the user a collision between the robotic arms. In another example, the haptic feedback is used to indicate to the user that the robotic device or one of its components (such as one of the arms) is approaching or has reached its reachable or dexterous workspace.

<FIG> provide a schematic representation of haptic feedback relating to the dexterous workspace of a robotic arm according to a specific embodiment. More specifically, <FIG> represents a two-dimensional "slice" of the workspace <NUM> of one arm of a robotic device of any system embodiment herein. That is, the image is a representation of the range of motion <NUM> of the distal end of the robotic arm in two dimensions (the x and y directions) such that it depicts all of the area <NUM> that the end effector of the robotic arm can reach when the arm can move in those two dimensions and the device body is kept motionless. As is shown in <FIG>, this workspace <NUM> can be extended into three dimensions, as the device <NUM> is capable of operating in the z-direction as well).

In these implementations, and as best shown in <FIG>, the full reachable workspace <NUM> is made up of both the exterior portion <NUM> and the interior portion <NUM> of the workspace <NUM>. The interior portion <NUM> is the operational workspace <NUM> of the robotic arm. That is, it is the workspace <NUM> in which the arm is functional and operates optimally. The outer portion <NUM> is the undesirable or non-optimal workspace <NUM> of the robotic arm.

In this specific embodiment as best shown in <FIG>, the system has been configured to provide haptic feedback as the end effector of the arm reaches the outer points of the workspace <NUM>. More specifically, the system, or a software component thereof, defines the haptic boundary <NUM> as the operational workspace <NUM>. When the user moves the robotic arm such that the end effector is inside the haptic boundary <NUM>, the haptic input devices apply no force to the hand controllers, thereby indicating to the user that the robotic arm is in the operational workspace <NUM>. If the end effector of the arm moves outside of the haptic boundary <NUM> and into the non-optimal workspace <NUM>, the haptic input devices provide force that urges the hand controller, and thus the robotic arm, back toward the closest point on the haptic boundary. In one embodiment, the force applied at the hand controller is proportional to the distance from the haptic boundary such that it feels to the user like a virtual spring is pushing the user's hand (and thus the robotic arm) back inside the boundary <NUM>. Alternatively, it is understood that other models for forces can be created other than proportional distance.

Once possible use of the system is shown in <FIG>. In this implementation, the user can operate the hand controllers <NUM> (as shown in FIGS. 226A-E) in translation (box <NUM>) and / or orientation (box <NUM>) modes through a variety of steps. In certain implementations, controllers have seven degrees of haptic feedback relating to the position of the device in the surgical theater. Here, translation mode refers to x-, y-, and z-haptics, while the orientation mode refers to roll, pitch and yaw feedback, and the trigger operation can account for a seventh degree. In certain implementations, it is desirable to lock certain of these feedback movements - such as orientation - while leaving others - such as translation - free to be moved relative to the console. This selective locking allows for gross repositioning of the user's hands and controllers without causing a corresponding movement of the device <NUM> within the surgical theater.

For example, the user can enter tele-op mode (box <NUM>) such that the haptic input devices (described in detail in relation to <FIG>) are aligned to their center (<NUM>, <NUM>, <NUM>) regardless of the position of the device (box <NUM>), while the orientation vectors (box <NUM>) are aligned with the orientation of the device arms <NUM>, <NUM> with respect to yaw, pitch and roll.

In tele-op mode, these positions are set (boxes <NUM> and <NUM>), such any movements of the controllers will directly correspond with the movement of the device <NUM>, and any force applied to the device <NUM> will cause a corresponding force to be applied back to the user through the controllers. However, in certain situations, the user may desire to re-orient the hand controllers relative to the console without causing a corresponding change in the movement of the device.

When the system is paused (box <NUM>) the system is "locked" (boxes <NUM> and <NUM>), such that the hand controllers <NUM> are locked in place. No movement or commands to the device <NUM> are being sent, such that the device <NUM> holds position regardless of what the user does to the hand controllers, meaning that even if the user overpowers the haptic locks and moves the hand controllers, the robot will not move.

In further implementations, to move the controllers independently, the user can engage the clutch (box <NUM>) so as to disengage the translation of the controllers only (box <NUM>) while the device arms <NUM>, <NUM> and controllers maintain a fixed orientation (box <NUM>). When the clutch <NUM> is disengaged (box <NUM>) the robot and hand controllers are then virtually re-connected, so as to again fix translation and orientation between the controllers and device.

In these implementations, the workspace can be defined (box <NUM>) when the device <NUM> is positioned. As discussed above, the translational movement of the arms and controllers is limited by the workspace boundry (box <NUM>), and the orientation movements are aligned with a valid vector (box <NUM>) to ensure safety and precision.

In certain implementations, the haptic lock can be also interrupted by other functions such as "camera clutch" (box <NUM>), where the two hand controllers can move together. In these implementations, it may be necessary to re-orient the hand controllers and / or device arms relative to the position and / or orientation of the camera. That is, as would be understood, because the camera is capable of pan and tilt functions, the camera has a specific frame of reference with regard to the workspace and device <NUM>. In certain implementations, the console depicts this frame of reference, and the translation and / or orientation of the arms and controllers are fixed relative to the camera orientation. When the camera is moved, it may be necessary to re-orient the controllers and / or arms relative to the second camera frame of reference, which can be designated by a. Accordingly, it is possible to urge the hand controls in various directions (such as horizontally relative to the ground), but cause a corresponding vertical motion of the robot arms, in circumstances where the device and camera are pointed straight down. Other versions of this workflow are possible.

<FIG>show another possible use of haptic feedback in the force dimension workspace <NUM>. In these implementations, the motion - translation and/or orientation - of the hand controllers have certain limits. In certain embodiments, and as shown in <FIG>, the haptic feedback system described above can be used to indicate to the user that the hand controllers have been moved to a limit <NUM> of their motion. Here another virtual spring could be implemented, or a visual alert, or audible alert, or vibratory alert could be provided.

<FIG>show an operator detection system <NUM>, which can be operationally integrated with any of the preceding embodiments as part of the user input device or controller <NUM>. In these implementations, the operator detection system <NUM> is configured to detect the presence of the user <NUM> so as to prevent unintended motion of the device <NUM>. One implementation is to use a mechanical switch <NUM> that is engaged as the user <NUM> inserts his/her hands <NUM> into contact with the user input device <NUM> and / or applies pressure to the controller sides <NUM>, <NUM>. Various implementations can also take the form of a capacitive sensor, a pressure sensor, and optical sensor, an optical beam break sensor, or many other forms. In various alternate implementations, the operator detection system <NUM> can utilize voice activation and / or a vision system.

The various embodiments are disclosed in additional detail in the attached figures, which include some written description therein.

Further, a device as shown and described in the attached figures is inserted into the patient using the following procedure.

First, an incision is made through the abdominal wall using standard techniques. <NUM> inch = <NUM>. In this embodiment an incision of length <NUM>" is required to create a suitable orifice for the system to pass through.

Next, a retractor is placed in the incision. In this embodiment, an Applied Medical Alexis Wound Retractor (http://www. appliedmedical. com/Products/Alexis. aspx) is utilized. It consists of a thin walled (<. <NUM>") flexible tubular membrane with rigid ring shaped end caps. Once the distal ring is inserted into the patient, the proximal ring is rolled to take up the excess slack in tube and pull the wound open.

Then, a port is placed on the retractor. In this embodiment, a modified Applied Medical Gel port (http://www. appliedmedical. com/Products/Gelport. aspx) is utilized. The port is capable of maintain a pressure differential such that insufflation of the abdominal cavity may be achieved. The port is capable of having items (ie robot) plunged through it while maintaining this pressure differential / gas seal. This port consists of a rigid ring which mechanically clamps to the external rigid ring of the retractor. This clamp is capable of sealing to the ring, preserving insufflation pressure. The port further consists of a pair of circular gel membranes. Each membrane is ~<NUM>" thick. Each membrane has a slit through it. The slit has length of ~<NUM>% of the membrane diameter. When assembled, the slit of membrane <NUM> is rotated <NUM> degrees with respect to the slit of membrane <NUM>. Due to the gel / conforming nature of the membranes, a seal is maintained against oddly shaped objects as they pass through the slits of the membranes and into the abdominal cavity.

According to one alternative embodiment relating to the port, a lattice of non-elastic cords is embedded in the membranes, mitigating doming / blowout as a result of the internal pressure. In a further alternative, a thin film of a rigid / puncture resistant polymer was deposited at the interface of membrane <NUM> and <NUM>. The purpose of this polymer is to prevent the end effectors of the robot from puncturing membrane <NUM> after it passes through the slit in membrane <NUM>.

Once the retractor and gel port are in place, the robot may be inserted into the patient.

Next, a camera (a robot camera as disclosed in the attached figures or an auxiliary camera) is inserted through an auxiliary port to view the insertion.

Next, the insertion / extraction mode of the robot is activated from the GUI.

After that, the robot and/or system determines a path from its current state to its insertion pose (arms straight down), and the operator steps through this path to achieve the required pose.

Subsequently, the operator inserts the robot into the patient (through the gel port and through the retractor port) until the elbow joints of the robot clear the interior surface of the abdominal wall.

After that, the operator steps through the insertion path until the elbows reach their end point (<NUM> degrees). The operator then further inserts the robot into the patient until the shoulder joints clear the interior surface of the abdominal wall. The operator continues to step through the insertion path until the robot achieves its "ready" pose (arms in a nominal operating position), at which point, the surgical procedure can proceed.

When the procedure is complete, device extraction follows the above sequence in reverse.

Claim 1:
A robotic surgical system, comprising:
(a) a robotic surgical device (<NUM>) comprising:
(i) a device body (<NUM>) comprising:
(A) a distal end;
(B) a proximal end; and
(C) a camera lumen (<NUM>) defined within the device body (<NUM>), the camera lumen (<NUM>) comprising
(<NUM>) a proximal lumen opening (<NUM>) in the proximal end of the device body (<NUM>);
(<NUM>) a socket portion (62A) defined distally of the proximal lumen opening (<NUM>), the socket portion (62A) comprising a first diameter and a first coupling component;
(<NUM>) a seal structure (62B) disposed distally of the socket portion (62A), the seal structure (62B) comprising a ring seal and a one-way seal;
(<NUM>) an extended portion (62C) defined distally of the seal structure, the extended portion having a second diameter smaller than the first diameter; and
(<NUM>) a distal lumen opening (60A) in the distal end of the device body (<NUM>), the distal lumen opening (60A) defined at a distal end of the extended portion (62C);
(ii) first and second shoulder joints (<NUM>, <NUM>) operably coupled to the distal end of the device body (<NUM>);
(iii) a first robotic arm (<NUM>) operably coupled to the first shoulder joint (<NUM>); and
(iv) a second robotic arm (<NUM>) operably coupled to the second shoulder joint (<NUM>); and
(b) a camera component (<NUM>) comprising a handle (<NUM>), the handle (<NUM>) comprising:
(i) a distal end configured to be positionable within the socket portion (62A);
(ii) a second coupling component configured to releasably couple with the first coupling component, thereby releasably locking the handle (<NUM>) into the socket portion (62A); and
(iii) at least one actuator disposed within the handle (<NUM>), and
an elongate tube (<NUM>) operably coupled to the handle (<NUM>), wherein the elongate tube (<NUM>) is configured and sized to be positionable through the camera lumen (<NUM>), the elongate tube (<NUM>) comprising:
(i) a rigid section;
(ii) an optical section; and
(iii) a flexible section operably coupling the optical section to the rigid section,
wherein the elongate tube (<NUM>) has a length such that at least the optical section is configured to extend distally from the [[a]]distal lumen opening (60A) of the camera lumen (<NUM>) when the camera component (<NUM>) is positioned through the camera lumen (<NUM>), and the at least one actuator disposed within the handle (<NUM>) is constructed and arranged to perform camera component (<NUM>) pan and camera component (<NUM>) tilt.