HK1250466A1 - Systems, devices, and methods for performing surgical actions - Google Patents

Abstract

Example embodiments relate to surgical devices, systems, and methods. The system includes a surgical arm having segments and joints. A first joint couples first and second segments. A second joint couples second segment to an end effector joint. End effector joint couples second joint to an end effector. A joint driving assembly includes first joint driving subassembly having a first joint driving subsystem and first joint driving cables. First joint driving subsystem is configurable to move second segment relative to first segment. A second joint driving subassembly includes second joint driving subsystem and second joint driving cables. Second joint driving subsystem is configurable to move end effector joint relative to second segment. An end effector joint driving subassembly includes end effector joint driving subsystem and end effector joint driving cables. End effector joint driving subsystem is configurable to move end effector relative to second joint.

Description

Systems, devices, and methods for performing surgical actions

Technical Field

The present disclosure relates generally to systems, devices, and methods for performing surgical procedures, and more particularly to surgical robotic systems, devices, and methods for performing in vivo surgical actions including, but not limited to, Minimally Invasive Surgery (MIS) procedures and natural orifice endoscopic surgery (NOTES) procedures.

Background

Conventionally, surgical procedures performed in a body cavity of a patient (such as the abdominal cavity) require one or more large access incisions to access the patient in order for a surgical team to perform the surgical action. With the development of medical science and technology, such conventional surgical procedures have been largely replaced by Minimally Invasive Surgical (MIS) procedures (and, where applicable, natural orifice endoscopic surgical procedures (NOTES)).

Disclosure of Invention

Recent developments in computer-assisted and/or robotic surgical techniques have contributed to the development in the MIS and NOTES fields, including the ability to translate a surgeon's desired surgical actions into precise movement of surgical instruments within a patient's body cavity. Despite recent advances, it is recognized in this disclosure that one or more problems are encountered in modern surgical techniques and methods. For example, typical MIS procedures require multiple incisions into the patient in order to make access through the incisions for inserting cameras and various other laparoscopic instruments into the body cavity of the patient.

As another example, surgical robotic systems typically face the difficulty of simultaneously providing left and right surgical robotic arms each having a primary instrument (such as a cutting or grasping instrument attached to an end of the surgical robotic arm) and one or more secondary instruments (such as a grasper, retractor, suction/irrigation and/or image capture device) within a cavity of a patient.

The present example embodiments relate generally to systems, devices, and methods for addressing one or more problems in surgical robotic systems, devices, and methods, including those described above and herein.

In an exemplary embodiment, a surgical system for performing in vivo and in vitro surgical actions is described. The surgical system may be configurable to be inserted into an internal passage of a port assembly. The port assembly may be used as an access point into a cavity of a patient. The surgical system may include a surgical arm and an articulation drive assembly. The surgical arm may include a plurality of segments and joint assemblies including first and second segments, an end effector assembly, first and second joint assemblies, and an end effector joint assembly. The first joint assembly may pivotally couple the distal end of the first segment to the proximal end of the second segment. The second joint assembly may pivotally couple the distal end of the second segment to the proximal end of the end effector joint assembly. The end effector joint assembly may pivotally couple the distal end of the second joint assembly to the end effector assembly. An articulation drive assembly may be provided at the proximal end of the first segment. The articulation drive assembly may include a plurality of subassemblies including a first articulation drive subassembly, a second articulation drive subassembly, and an end effector articulation drive subassembly. The first joint drive subassembly may include a first joint drive subsystem and one or more first joint drive cables connected to a portion of the first joint assembly, the second segment, and/or the second joint assembly. The first joint drive subsystem may be configurable to activate the second segment to pivotally move in a first direction relative to the first segment and to pivotally move in a second direction opposite the first direction by controlling tension applied to one or more of the first joint drive cables. The second joint drive subassembly may include a second joint drive subsystem and one or more second joint drive cables connected to a portion of the second joint assembly and/or the end effector joint assembly. The second joint drive subsystem may be configurable to activate the proximal end of the end effector joint assembly to pivotally move in a third direction relative to the second segment and to pivotally move in a fourth direction opposite the third direction by controlling tension applied to one or more of the second joint drive cables. The end effector articulation drive sub-assembly may include an end effector articulation drive subsystem and one or more end effector articulation drive cables connected to the end effector articulation assembly and/or a portion of the end effector assembly. The end effector articulation drive subsystem may be configurable to actuate the end effector assembly to pivotally move in a fifth direction relative to the distal end of the second articulation assembly and to pivotally move in a sixth direction opposite the fifth direction by controlling the tension applied to one or more of the end effector articulation drive cables.

In another exemplary embodiment, a surgical system for performing in vivo and in vitro surgical actions is described. The surgical system may be configurable to be inserted into an internal passage of a port assembly. The port assembly may be used as an access point into a cavity of a patient. The surgical system may include a surgical arm and an articulation drive assembly. The surgical arm may include a plurality of segments and a joint assembly including a first segment having a first elongated body with a plurality of channels extending within opposing facing sidewalls of the first elongated body. The surgical arm may further include a second segment having a second elongated body with a plurality of channels extending within oppositely facing sidewalls of the second elongated body. The surgical arm may further comprise an end effector assembly. The surgical arm may further include a first articulation assembly pivotally coupling the distal end of the first segment to the proximal end of the second segment. The surgical arm may further comprise a second joint assembly pivotally coupling the distal end of the second segment to the proximal end of the end effector joint assembly. The surgical arm may further comprise an end effector joint assembly pivotally coupling the distal end of the second joint assembly to the end effector assembly. An articulation drive assembly may be provided at the proximal end of the first segment. The joint drive assembly may include a plurality of joint drive subassemblies including a first joint drive subassembly. The first joint drive subassembly may include a first joint drive subsystem, a first pair of levers, a first joint drive cable connecting a first lever of the first pair of levers to a first point, and a corresponding first joint drive cable connecting a second lever of the first pair of levers to a corresponding first point opposite the first point. The first point and the corresponding first point may be provided at the distal end of the first joint assembly, the second segment, and/or the distal end of the second joint assembly. A first articulation drive cable may be provided through the first channel of the second segment and through the first channel of the first segment. A corresponding first articulation drive cable may be provided through the channel of the second segment opposite the first channel of the second segment and through the channel of the first segment opposite the first channel of the first segment. The first joint drive subsystem may be configurable to actuate the second segment to pivotally move in a first direction relative to the first segment by driving a first lever of the first pair of levers in such a way as to increase a tension of a first joint drive cable connected to the first point and/or driving a second lever of the first pair of levers in such a way as to decrease a tension of a corresponding first joint drive cable connected to the corresponding first point. The first point may face a first direction. The first articulation drive subsystem may be further configurable to actuate the second segment to pivotally move in a second direction relative to the first segment by driving the second lever of the first pair of levers in such a manner as to increase a tension of the corresponding first articulation drive cable connected to the corresponding first point and/or to decrease a tension of the first articulation drive cable connected to the first point. The corresponding first point may face the second direction. The second direction may be opposite to the first direction.

Drawings

For a more complete understanding of the present disclosure, example embodiments, and their advantages, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which like reference numbers indicate like features, and:

FIG. 1A is a side view of an exemplary embodiment of a surgical system in a forward configuration having a primary surgical arm, a secondary surgical arm, a port assembly, an articulation drive assembly, a rotary drive assembly, and a telescoping drive assembly;

FIG. 1B is a top view of an exemplary embodiment of a surgical system in a forward configuration having a primary surgical arm, a secondary surgical arm, a port assembly, an articulation drive assembly, a rotary drive assembly, and a telescoping drive assembly;

FIG. 1C is a front view of an example embodiment of a surgical system in a forward configuration having a primary surgical arm, a secondary surgical arm, a port assembly, an articulation drive assembly, a rotary drive assembly, and a telescoping drive assembly;

FIG. 1D is a side view of an example embodiment of a surgical system in a forward configuration having a surgical arm, an articulation drive assembly, a rotary drive assembly, and a telescoping drive assembly;

FIG. 2A is a side view of an exemplary embodiment of a surgical system in a reverse configuration having a primary surgical arm, a secondary surgical arm, a port assembly, an articulation drive assembly, a rotary drive assembly, and a telescoping drive assembly;

FIG. 2B is a top view of an exemplary embodiment of a surgical system in a reverse configuration having a primary surgical arm, a secondary surgical arm, a port assembly, an articulation drive assembly, a rotary drive assembly, and a telescoping drive assembly;

FIG. 2C is a front view of an exemplary embodiment of a surgical system in a reverse configuration having a primary surgical arm, a secondary surgical arm, a port assembly, an articulation drive assembly, a rotary drive assembly, and a telescoping drive assembly;

FIG. 2D is a side view of an exemplary embodiment of a surgical system in a reverse configuration having a surgical arm, an articulation drive assembly, a rotary drive assembly, and a telescoping drive assembly;

3A-3D are side views of an example embodiment of a surgical system configured in various different positions;

FIG. 3E is a cross-sectional side view of an exemplary embodiment of a surgical system;

FIG. 3F is a perspective view of an exemplary embodiment of a surgical system having a first segment, a first joint assembly, and a second segment;

FIG. 3G is a perspective view of an example embodiment of a surgical system having a second segment, a second joint assembly, and an end effector joint assembly;

FIG. 3H is a perspective view of an example embodiment of a surgical system having a second joint assembly, an end effector joint assembly, and an end effector assembly;

FIG. 4A is a perspective view of an exemplary embodiment of a surgical system having an articulation drive assembly;

FIG. 4B is a perspective view of an exemplary embodiment of a surgical system having an articulation drive assembly;

FIG. 4C is a perspective view of an exemplary embodiment of a surgical system having an articulation drive assembly;

FIG. 4D is a perspective view of an exemplary embodiment of components of an articulation drive assembly, including components of a first articulation drive assembly;

FIG. 4E is a cross-sectional view of an exemplary embodiment of components of an articulation drive assembly (including components of a first articulation drive assembly);

4F-G are other perspective views of an exemplary embodiment of certain components of the articulation drive assembly;

FIG. 5A is a perspective view of an exemplary embodiment of certain components of a rotary drive assembly;

FIG. 5B is another perspective view of an exemplary embodiment of certain components of the rotary drive assembly in a first or home position;

FIG. 5C is an illustration of an example embodiment of certain components of a surgical arm, illustrating the position of the surgical arm when the rotary drive assembly is in a first or starting position;

FIG. 5D is another perspective view of an exemplary embodiment of certain components of the rotary drive assembly in a rotated position;

FIG. 5E is an illustration of an example embodiment of certain components of a surgical arm, illustrating the position of the surgical arm when the rotary drive assembly is in a rotated position;

FIG. 6A is a perspective view of an exemplary embodiment of a surgical system having a telescoping drive assembly;

6B-C are side views of an example embodiment of different positions of the surgical system when the telescopic drive assembly provides linear displacement of the surgical arm;

FIG. 7A is a side view of an exemplary embodiment of a surgical arm in an inverted configuration;

FIG. 7B is a perspective view of an exemplary embodiment of a U-shaped portion of a first segment of a surgical arm;

8A-C are perspective views of an exemplary embodiment of an end effector assembly having an instrument in the form of a retractor, an image capture device, and a suction and/or irrigation device, respectively;

FIG. 9 is a perspective view of an example embodiment of a portion of a joint assembly, cable, and termination point;

FIG. 10A is a perspective view of an exemplary embodiment of a lever; and

FIG. 10B is a top view of an exemplary embodiment of an articulation drive assembly.

Although, for purposes of convenience, like reference numerals may be used to refer to like elements in the figures, each of the various exemplary embodiments may be considered a different variation.

Example embodiments will now be described with reference to the accompanying drawings, which form a part of the disclosure and which illustrate example embodiments that may be practiced. As used in this disclosure and the appended claims, the terms "example embodiment," "example embodiment," and "the present embodiment" do not necessarily refer to a single embodiment, but they may refer to a single embodiment, and the various example embodiments may be readily combined and/or interchanged without departing from the scope or spirit of the example embodiments. Furthermore, the terminology as used in the present disclosure and the appended claims is for the purpose of describing example embodiments only and is not intended to be limiting. In this regard, as used in this disclosure and the appended claims, the term "in … …" may include "in … …" and "on … …", and the terms "a, an" and "the" may include both singular and plural references. Furthermore, as used in this disclosure and the appended claims, the term "by" may also mean "from," depending on the context. Furthermore, as used in this disclosure and the appended claims, the term "if" may also mean "when … …" or "when … …", depending on the context. Furthermore, as used in this disclosure and the appended claims, the word "and/or" may refer to and encompass any and all possible combinations of one or more of the associated listed items.

Detailed Description

Surgical robotic technology advances in the MIS and NOTES fields have enabled surgeons to translate desired surgical actions into precise movement of surgical instruments within a patient's body cavity. Despite recent advances, it is recognized in this disclosure that one or more problems are encountered in modern surgical techniques and methods.

For example, a typical MIS or NOTES procedure will generally require the surgeon to perform multiple incisions in the patient in order to enable the surgeon to insert the desired laparoscopic instruments through the incisions into the body cavity of the patient. Furthermore, surgeons using known surgical systems often encounter problems with utilizing surgical instruments, such as cutters, graspers, retractors, suction/irrigation devices, and/or image capture devices (e.g., still or video cameras) attached to the end of a surgical robotic arm, in certain portions, regions, and/or quadrants of a patient's body cavity, such as the abdomen, after the system has been set up (or anchored) and is ready to perform a surgical action. That is, after the surgical robotic arm has been inserted into and properly positioned within the abdominal cavity of a patient, the surgical instruments attached to the end of the surgical robotic arm are typically mechanically limited to accessing only certain portions, areas, and quadrants of the abdominal cavity of the patient.

As another example, known surgical robotic systems typically only enable one to two surgical robotic arms to be inserted into a body cavity of a patient for each access or opening (such as an incision or natural orifice). In this regard, when additional laparoscopic instruments (such as one or more other surgical robotic arms) need to be inserted into the patient's abdominal cavity, one or more additional incisions (cuts) need to be performed on the patient. Additional problems may also be encountered where it is desired to insert such laparoscopic instruments in a reverse manner or configuration (e.g., to access a portion of a patient near a luminal opening (e.g., incision or natural orifice) therein).

Recent technological developments have introduced solutions to one or more of the aforementioned problems. U.S. patent application No.14/693,207 to Yeung et al ("U.S. Pat. No. 207"), which is incorporated herein by reference in its entirety, describes surgical robotic devices, systems, and methods, including surgical systems having port assemblies for providing anchoring and/or reaction forces sufficient to oppose forces applied by one or more surgical arms of the surgical system during a surgical action. The surgical system of us' 207 enables a surgeon to not only perform a single small incision on a patient, but also enables the surgeon to utilize one or more laparoscopic instruments (including a surgical robotic arm and a suction tube) in the abdominal cavity of the patient through such a single small incision (via a port assembly). Us' 207 further teaches a surgical arm that is configurable to provide 7 in-vivo degrees of freedom, thereby enabling surgical instruments attached to the surgical arm to access all portions, regions, and quadrants of a body cavity. The combined design of the port assembly, the surgical robotic arm, and the attachment portion for attaching the surgical robotic arm to the port assembly further enables easy and controlled insertion and removal of the surgical robotic arm so as to prevent inadvertent contact with and damage to patient tissue. Further, U.S. patent application Ser. Nos. 15/340,660 and 15/340,678 to Yeung, and U.S. patent application Ser. No.15/340,699 to Yeung et al, all of which are incorporated herein by reference in their entirety, also describe surgical robotic devices, systems, and methods, including internally motorized surgical arms and detachable end effector assemblies for surgical arms.

In addition to the above-described problems encountered with known surgical systems during forward-guided surgery (e.g., MIS performed in the abdominal cavity of a patient), known surgical systems typically encounter additional problems when deployed through a natural orifice (such as the rectum or vagina) for performing natural orifice endoscopic surgery (or NOTES), such as transvaginal gynecological surgery in women and transrectal urological surgery in men. For example, such known systems generally suffer from problems associated with, among other things, the inability to access certain organs, tissues or other surgical sites when inserted into a natural orifice due to the inherent forward-oriented design of such systems.

Recent technological developments have introduced solutions to the aforementioned problems. For example, U.S. patent application Ser. Nos. 15/044,889 and 15/044,895 ("U.S. 895"), both of which are incorporated herein by reference in their entirety, to Yeung describe surgical systems that may be configured for performing forward-directed and/or reverse-directed surgical actions.

Surgical systems, devices, and methods (including those used in MIS and NOTES) are described in this disclosure. It is to be understood in this disclosure that the principles described herein may be applied outside of the context of MIS and/or NOTES, such as performing scientific experiments and/or procedures in environments not readily accessible to humans (including in vacuum, in outer space, and/or in toxic and/or hazardous conditions), without departing from the teachings of the present disclosure.

Surgical systems (e.g., surgical systems 100, 200)

Fig. 1A, 1B, and 1C illustrate an example embodiment of a surgical system (e.g., surgical system 100) that is configurable to perform, among other things, a forward-guided surgical procedure, and fig. 2A, 2B, and 2C illustrate an example embodiment of a surgical system (e.g., surgical system 200) that is configurable to perform, among other things, a reverse-guided surgical procedure. As used in this disclosure, discussion of a surgical system, surgical device, and/or one or more components of a surgical system or device (e.g., one or more of a port assembly, a surgical arm, a first segment, an end effector assembly, an instrument, a second segment, a first joint assembly, a second joint assembly, an end effector joint assembly, a joint drive assembly, a first joint drive assembly, a second joint drive assembly, an end effector joint drive assembly, a rotary drive assembly, a telescoping drive assembly, etc.) may be applicable to one or more components of surgical system 100, surgical system 200, and/or surgical system 100 and/or surgical system 200 described above and in this disclosure (e.g., one or more of a port assembly 110, a surgical arm 120, a surgical arm 130, a first segment 131, a second segment 131, a first segment 131, a second segment, a telescoping drive assembly, etc.) Second segment 132, end effector assembly 133, instrument 134, first joint assembly 135, second joint assembly 136, end effector joint assembly 137, joint drive assembly 140, first joint drive assembly 142, second joint drive assembly 144, end effector joint drive assembly 146, rotary drive assembly 150, telescoping drive assembly 160, etc.).

The surgical system 100 or 200 may be configurable to be inserted into the abdominal cavity of a patient via a single passageway or opening, e.g., a single incision, such as an incision in or around the umbilical region, or via the patient's natural orifice, such as the rectum or vagina, for performing natural orifice endoscopic surgery (or NOTES), hereinafter referred to as an "opening".

Surgical system 100 or 200 may include a port assembly 110 (as shown in at least fig. 1A-C, 2A-C, 6A-C), port assembly 110 may be anchored in place in or near the opening of a patient via an external anchor (not shown). For example, port assembly 110 may include a main channel 112 (as shown in at least fig. 1C), main channel 112 for insertion of one or more components of surgical system 100, such as one or more surgical arms 120 (as shown in at least fig. 1A-C, fig. 2A-C). Port assembly 110 may also include one or more channels 114 (shown in at least fig. 1C), channels 114 for inserting one or more other components of surgical system 100, such as surgical arm 130 (shown in at least fig. 1A-D, fig. 2A-D, fig. 3A-F, fig. 5A-E, fig. 6A-C, fig. 7A-B, fig. 8A-C).

Surgical system 100 or 200 may include one or more surgical arms 120 (as shown in at least fig. 1A-C). Each surgical arm 120 may be configurable in a forward configuration and/or a reverse configuration (as shown in at least fig. 2A-C). In some example embodiments, each surgical arm 120 may be a primary surgical arm for performing a primary surgical action on the interior of a body cavity of a patient. For example, each surgical arm 120 may include a surgical instrument, such as a cutter or grasper. Such surgical instruments may be conventional instruments, electrosurgical instruments, and the like.

The surgical system 100 or 200 can include one or more surgical arms 130 (also referred to as surgical arm assemblies 130; as shown in at least figures 1A-D, figures 2A-D, figures 3A-F, figures 5A-E, figures 6A-C, figures 7A-B, figures 8A-C). Each surgical arm 130 may be configurable in a forward configuration (as shown in at least fig. 1A-D) and/or a reverse configuration (as shown in at least fig. 2A-D, 7A-B). In some example embodiments, each surgical arm may be a primary, secondary, or auxiliary surgical arm for performing a primary surgical action, a secondary surgical action, and/or the auxiliary surgical arm(s) 120 performs a primary surgical action. For example, each surgical arm 130 may include a surgical instrument, such as a cutter, a grasper, an image capture device, or a suction device. Such surgical instruments may be conventional instruments, detachable instruments, electrosurgical instruments, and the like.

The surgical system 100 or 200 may include an articulation drive assembly 140 (as shown in at least fig. 1A, 1D, 2A, 2D, 4A-E, 6B-C). The joint drive assembly 140 may include a plurality of joint drive subassemblies including a first joint drive subassembly 142 for driving pivotal movement of the first joint assembly 135, a second joint drive subassembly 144 for driving pivotal movement of the second joint assembly 136, and an end effector joint drive subassembly 146 for driving pivotal movement of the end effector joint assembly 137.

Surgical system 100 or 200 may include a rotary drive assembly 150 (as shown in at least fig. 1A, 1D, 2A, 2D, 4A, 4B, 5A, 5B, 5D, 6B-C). The rotary drive assembly 150 may include a drive gear 152. The rotary drive assembly 150 can further include a driven gear 154 securable or fixed to the proximal end of the first segment 131, the driven gear 154 can be configured to be driven by the drive gear 152 in such a manner as to rotate the surgical arm 130 (or at least the first segment 131) relative to an axis X1 formed by the elongated portion of the first segment 131.

Surgical system 100 or 200 can include a telescoping drive assembly 160 (as shown in at least fig. 1A, 1D, 2A, 2D, 6A-C). Telescoping drive assembly 160 may be secured to port assembly 110. The telescoping drive assembly 160 may also be secured to the joint drive assembly 140 and/or the rotational drive assembly 150. The telescoping drive assembly may be configured to provide linear displacement of the surgical arm 130 (or at least the first segment 131) in a linear direction. The linear direction may be a direction parallel to the axis X1 formed by the elongated portion of the first segment 131.

The surgical system 100 or 200 may also include other laparoscopic components, including but not limited to one or more other surgical arms, one or more other image capturing devices, one or more pipettes, and the like. Although fig. 1B-C illustrate a surgical system 100 having two surgical arms 120, a retractor surgical arm 130a, an image capturing surgical arm 130B, an aspiration surgical arm 130C, and a port assembly 110, it is understood in this disclosure that example embodiments may include more or less than two surgical arms 120, more or less than one retractor surgical arm 130a, more or less than one image capturing surgical arm 130B, more or less than one aspiration surgical arm 130C, and more or less than one port assembly 110 without departing from the teachings of this disclosure.

These and other components and example embodiments of the surgical system 100 or 200 will now be further described with reference to the drawings.

Surgical arms (e.g., surgical arms 130, 130a, 130b, 130c)

In an example embodiment, the surgical system 100 or 200 can include one or more surgical arms or surgical arm assemblies (e.g., surgical arms 130, 130a, 130B, and/or 130C) (hereinafter surgical arms 130), such as at least those shown in fig. 1A-D, 2A-D, 3A-F, 5A-E, 6A-C, 7A-B, 8A-C. Each surgical arm may be configurable to be secured to port assembly 110 and to be released from port assembly 110.

One or more of the surgical arm assemblies 130 may include a plurality of segments and joints in a configurable serial (or linear) arrangement. For example, as shown in at least fig. 1A-D, 2A-D, and 3A-H, one or more of the surgical arms 130 can include a first segment 131, a second segment 132, an end effector assembly 133 having an instrument 134, a first joint assembly 135, a second joint assembly 136, and/or an end effector joint assembly 137. The surgical arm 130 can also include one or more other segments and/or joint assemblies, such as a third joint assembly 138 (as shown in at least fig. 1A, 1D, 3A-D, and 8B) provided between the second joint assembly 136 and the end effector joint assembly 137 and/or a fourth joint assembly 139 (as shown in at least fig. 7A) provided between the first joint assembly 135 and the second segment 132. It is understood that the surgical arm 130 may include more and/or different segments and/or joints, more and/or different segment and/or joint configurations, and more and/or different segment and/or joint arrangements than those described above and in the present disclosure without departing from the teachings of the present disclosure.

These and other components and example embodiments of the surgical arm 130 will now be further described with reference to the accompanying drawings.

(i) First segment (e.g., first segment 131)

In an example embodiment, the surgical arm 130 may include one or more first segments 131. The first segment 131 can include at least an elongated or linear portion having a proximal end in communication (e.g., contacting, attached, secured, driven, etc.) with the articulation drive assembly 140, the rotary drive assembly 150, and the telescoping drive assembly 160. The elongated portion of the first segment 131 may also be in communication with the port assembly 110 when the surgical arm 130 is inserted into the port assembly 110 and positioned and configured to perform a surgical action. As shown in at least fig. 2A-D and 7A-B, the first segment 131 can also include a curved or substantially U-shaped segment that is connected to a distal end of the elongated portion of the first segment 131. It is to be understood that the curved or substantially U-shaped section, as described above and in the present disclosure, may be of any shape or form so long as it provides an inverted configuration. It is also understood that the curved or U-shaped sections and elongated portions of the first segment 131 may be formed as separate components or as a unitary body that are connected together without departing from the teachings of the present disclosure.

The first segment 131 may also include a plurality of channels. For example, the first segment 131 may include a main channel 131d (as shown in at least fig. 3E). In example embodiments where the surgical arm 130 includes an aspiration/irrigation device 134 as the instrument 134 of the end effector assembly 133, such a main channel 131d may be used to provide aspiration or negative pressure to the aspiration/irrigation device 134. The first segment 131 may also include a plurality of channels, such as channels 131a, 131b, and/or 131c and channels 131a ', 131b ', and/or 131c ' (as shown in at least fig. 3F) that may be provided opposite the channels 131a, 131b, and 131 c. In example embodiments, the channels 131a, 131b, and 131c may be provided and/or extend within a first sidewall (or first sidewall section) of the first segment 131, and the channels 131a ', 131b ', and/or 131c ' may be provided and/or extend within a second or oppositely facing sidewall (or second or oppositely facing sidewall section) of the first segment 131. For example, the channels 131a and 131c 'may be positioned in such a way that a line or plane drawn through the channels 131a and 131 c' will intersect a central axis X1 (as shown in at least fig. 1D and 3E) formed by the elongated portion of the first segment 131. Similarly, the channels 131b and 131b 'may be positioned in such a way that a line or plane drawn through the channels 131b and 131 b' will intersect the central axis X1 formed by the elongated portion of the first segment 131. Similarly, the channels 131c and 131a 'may be positioned in such a way that a line or plane drawn through the channels 131c and 131 a' will intersect the central axis X1 formed by the elongated portion of the first segment 131. It is understood in this disclosure that the first section 131 may also include other channels (or fewer channels) formed or extending within the sidewall(s) of the first section 131.

In an example embodiment, the cross-section of the first segment 131 may be formed to be substantially circular. In other words, the first segment 131 may be substantially cylindrical in shape. However, it is understood that the first segment 131 (and/or cross-section thereof) may be formed into one or more other shapes and forms without departing from the teachings of the present disclosure. When the first segment 131 comprises a substantially circular cross-section, the diameter of the first segment 131 may be between about 5 to 8 mm. Further, the main channel 131d (if provided) may have a diameter of between about 2 to 4 mm. Further, each of the channels 131a, 131a ', 131b ', 131c, and 131c ' (and/or other channels, if provided) may have a diameter of between about 0.5 to 1.2 mm. In an example embodiment, the first segment 131 may have a length of between about 500 to 800 mm. The first section 131 may be formed using one or more of a variety of materials and compositions, such as surgical grade metals, high strength aluminum alloys, stainless steels (e.g., 304/304L, 316/316L, and 420), pure titanium, titanium alloys (e.g., Ti6A14V, NiTi), and cobalt chromium alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure.

(ii) Second segment (e.g., second segment 132)

In an example embodiment, the surgical arm 130 may include one or more second segments 132. The second segment 132 may include at least an elongated linear portion having a proximal end pivotally coupled to a distal end of the first segment 131 via a first joint assembly 135. The distal end of the second segment 132 may be pivotally coupled to the proximal end of the end effector assembly 133. The second section 132 may also include a plurality of channels. For example, the second section 132 may include a primary channel 132d (as shown at least in fig. 3E). In example embodiments where the surgical arm 130 includes an aspiration/irrigation device 134 as the instrument 134 of the end effector assembly 133, such a main channel 132d may be used to provide aspiration or negative pressure to the aspiration/irrigation device 133. Second segment 132 may also include a plurality of channels, such as channels 132a and/or 132b and channels 132a 'and/or 132 b' (as shown in at least fig. 3F and 3G) provided opposite channels 132a and 132 b. In some example embodiments, the second segment 132 may further include a channel 132c and a channel 132 c' opposite the channel 132 c. In example embodiments, the channels 132a and 132b (and 132c, if provided) may be provided and/or extend within a first sidewall (or first sidewall section) of the second section 132, and the channels 132a ' and 132b ' (and 132c ', if provided) may be provided and/or extend within a second or oppositely facing sidewall (or second or oppositely facing sidewall section) of the second section 132. For example, channels 132a and 132c '(if provided) may be positioned in such a way that a line or plane drawn through channels 132a and 132 c' will intersect a central axis X2 (as shown in at least fig. 1D and 3E) formed by the elongated portion of second segment 132. Similarly, the channels 132b and 132b 'may be positioned in such a way that a line or plane drawn through 132b and 132 b' will intersect the central axis X2 formed by the elongated portion of the second segment 132. Similarly, the channels 132c (if provided) and 132a 'may be positioned in such a way that a line or plane drawn through the channels 132c and 132 a' will intersect the central axis X2 formed by the elongated portion of the second segment 132. It is understood in the present disclosure that the second section 132 may also include other channels formed or extending within the sidewall(s) of the second section 132. The positioning of the channels 132a, 132b, 132c (if provided), 132a ', 132b ', and 132c ' (if provided) may be positioned in such a way that when the first and second segments 131, 132 are configured to be aligned in a substantially straight line (e.g., when the axis X1 and the axis X2 are parallel to each other), such channels of the second segment 132 are substantially aligned with the channels 131a, 131b, 131c (if 132c is provided), 131a ', 131b ', and 131c ' (if 132c ' is provided) of the first segment 131, respectively.

In an example embodiment, the cross-section of the second section 132 may be formed to be substantially circular. In other words, the second section 132 may be substantially cylindrical in shape. However, it is understood that the second section 132 (and/or cross-section thereof) may be formed into one or more other shapes and forms without departing from the teachings of the present disclosure. For a second segment 132 having a substantially circular cross-section, the diameter of the second segment 132 may be between about 5 to 8 mm. Further, the primary channel 132d (if provided) may have a diameter of between about 2 to 4 mm. Further, each of the channels 132a, 132a ', 132b ', 132c (if provided) and 132c ' (if provided) (and/or other channels, if provided) may have a diameter of between about 0.5 to 1.2 mm. In an exemplary embodiment, the second segment 132 may have a length of between about 25 to 70 mm. The second section 132 may be formed using one or more of a variety of materials and compositions, such as surgical grade metals, high strength aluminum alloys, stainless steels (e.g., 304/304L, 316/316L, and 420), pure titanium, titanium alloys (e.g., Ti6A14V, NiTi), and cobalt chromium alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure.

(iii) End effector assembly (e.g., end effector assembly 133)

In an exemplary embodiment, the surgical arm 130 can include an end effector assembly 133. The end effector assembly 133 may include at least an elongated linear portion having a proximal end pivotally coupled to a distal end of the second joint assembly 136 via an end effector joint assembly 137. The distal end of the end effector assembly 133 may include an instrument 134, such as a cutter 134, a grasper 134, a retractor 134 (as shown in at least fig. 8A), an image capture device 134 (as shown in at least fig. 8B), and/or a suction/irrigation device 134 (as shown in at least fig. 8C). The end effector assembly 133 may also include a plurality of channels. For example, the end effector assembly 133 may include a main channel 133d (as shown in at least fig. 3E). In example embodiments where the arm assembly 130 includes a suction/irrigation device 134 as the instrument 134 of the end effector assembly 133, such a main channel 133d may be used to provide suction or negative pressure to the suction/irrigation device 134. End effector assembly 133 may also include a plurality of channels, such as channel 133a and channel 133 a' opposite channel 133a (as shown in at least fig. 3H). In an example embodiment, the channel 133a may be provided and/or extend within a first sidewall (or first sidewall section) of the end effector assembly 133, and the channel 133 a' may be provided and/or extend within a second or oppositely facing sidewall (or second or oppositely facing sidewall section) of the end effector assembly 133. For example, channels 133a and 133a 'can be positioned in such a way that a line or plane drawn through channels 133a and 133 a' will intersect a central axis X3 (as shown in at least fig. 1D and 3E) formed by a portion of end effector assembly 133. It is understood in the present disclosure that the end effector assembly 133 may also include other channels (or fewer channels) formed or extending within the side wall(s) of the end effector assembly 133. The positioning of channels 133a and 133a 'may be positioned in such a way that when second segment 132 and end effector assembly 133 are configured to be aligned in a substantially straight line (e.g., when axis X2 and axis X3 are parallel to each other), such channels of end effector assembly 133 are substantially aligned with channels 132a and 132 a' of second segment 132, respectively.

In an exemplary embodiment, at least a proximal portion of the end effector assembly 133 may be formed in cross-section into a substantially circular shape. In other words, such a proximal portion may be substantially cylindrical in shape. However, it is to be understood that such proximal portion of the end effector assembly 133 may be formed into one or more other shapes and forms without departing from the teachings of the present disclosure. For end effector assemblies 133 having a substantially circular cross-section, the diameter of the end effector assembly 133 may be between about 5 to 8 mm. Further, the primary channel 133d (if provided) may have a diameter of between about 2 to 4.5 mm. Further, each of channels 133a and 133 a' (and/or other channels, if provided) may have a diameter of between about 0.5 to 1.2 mm. In an exemplary embodiment, when the instrument 134 is a cutter 134, grasper 134, or retractor 134, the end effector assembly 133 may have an overall length of between about 40 to 60 mm. When instrument 134 is an image capture device 134 (which may include a still image capture device, a video capture device, a 3-D stereoscopic or autostereoscopic device, etc.), end effector assembly 133 may have an overall length of between about 25 to 35 mm. When instrument 134 is an aspiration/irrigation device 134, end effector assembly 133 may have an overall length of between about 40 and 70 mm. End effector assembly 133 may be formed using one or more of a variety of materials and compositions, such as surgical grade metals, high strength aluminum alloys, stainless steel (e.g., 304/304L, 316/316L, and 420), pure titanium, titanium alloys (e.g., Ti6A14V, NiTi), and cobalt chrome alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure.

The instrument 134 and/or one or more other portions of the surgical arm 130 may include an integrated haptic and/or force feedback subsystem (not shown) that may be configured to provide a haptic feedback response to a user interface (e.g., a user interface for use by a surgeon or an assistant), and such haptic feedback response may first be processed by a controller (not shown). The instrument 134 may also be configurable to provide one or more of a plurality of feedback responses and/or measurements to a controller and/or user interface (e.g., user interface 910), including those related to the overall, imposed, and/or nearby location (including orientation), applied force, proximity, temperature, pressure, humidity, etc. of the instrument 134. In addition to haptic feedback responses, the controller may be further configurable to translate, replicate, map and/or sense fine movements of the operator using the user interface as movements of the surgical arm assembly 130 with high precision, high dexterity and minimal burden, among other things.

The surgical arm 130 may also be configured to receive electrical current (or voltage potential, thermal energy, heat, cold temperature application, etc.) from an energy source (or other source, not shown). In an example embodiment, such energy sources (or other sources) may also be partially or entirely integrated into one or more of the surgical arm assemblies 130. Current (or voltage potential, thermal energy, or cold temperature application) from an energy source (or other sources) may be selectively applied to one or more components of the end effector assembly 133, and such selective application of current (or voltage potential, thermal energy, or cold temperature application, etc.) may be configured and/or controlled by a user interface (e.g., via a controller). For example, where the end effector assembly 133 includes the instrument 134, an operator of the user interface may configure the user interface (e.g., via a controller) to command the energy source (or other source) to apply a current (or voltage potential, thermal energy, heat or cold temperature application, etc.) to the instrument 134. It is recognized in the present disclosure that applying such a current (or voltage potential, application of thermal energy, heat or cold, etc.) to instrument 134 enables end effector assembly 133 to perform the motions of the electrosurgical instrument, etc.

(iv) First joint component (e.g., first joint component 135)

In an example embodiment, the surgical arm 130 may include a first joint assembly 135. First joint assembly 135 may be configurable to pivotally couple, connect, attach, communicate, and/or secure (hereinafter "fixed" or "coupled") a distal end of first segment 131 to a proximal end of second segment 132. For example, first joint assembly 135 may include a proximal end that may be secured or fixed to a distal end of first segment 131. First joint assembly 135 may also include a distal end that may be secured or fixed to the proximal end of second segment 132. First joint assembly 135 may also include joints that secure the proximal and distal ends of first joint assembly 135. In some example embodiments, the joint of first joint assembly 135 may include an elongated portion, such as a pin or rod, that forms an axis substantially perpendicular to axis X1 and/or axis X2 regardless of the position of second segment 132 relative to first segment 131.

First joint assembly 135 may also include a plurality of channels, apertures, etc. For example, the first joint assembly 135 may include one or more main channels on each of the proximal and distal ends of the first joint assembly 135. The proximal end of the first joint assembly 135 may also include multiple channels (or a single channel or opening), and such channels may be positioned in such a manner to correspond in position to one or more of the channels 131a, 131b, 131c, 131a ', 131b ', and 131c ' of the first segment 131. The distal end of the first joint assembly 135 may include multiple channels (or a single channel or opening), and such channels may be positioned in such a way as to correspond in position to one or more channels of the proximal end of the first joint assembly 135 when the proximal and distal ends of the first joint assembly 135 are aligned (e.g., aligned in a straight line or have their central axes aligned in a straight line). Further, the plurality of channels (or a single channel or opening) at the distal end of first joint assembly 135 may be positioned in such a manner as to correspond in position to channels 132a, 132b, 132c (if provided), 132a ', 132b ', and 132c ' (if provided) of second segment 132. Fig. 9 illustrates an example embodiment of a proximal or distal end of the first joint assembly 135 having a plurality of channels for receiving, guiding, directing, etc., one or more cables (e.g., first joint drive cables 142i or 142j, second joint drive cables 144i or 144j, end effector joint drive cables 146i or 146j, etc., as will be further described in this disclosure).

In an example embodiment, a cross-section of a portion of the proximal and distal ends of the first joint assembly 135 may be formed in a substantially circular shape. In other words, the proximal and distal ends of first joint assembly 135 may be substantially cylindrical in shape. However, it is understood that the proximal and distal ends of the first joint assembly 135 may be formed in one or more other shapes and forms in cross-section without departing from the teachings of the present disclosure. For proximal and distal ends of first joint assembly 135 having a substantially circular cross-section, the proximal and distal ends of first joint assembly 135 may be between about 5 to 8mm in diameter. Further, each primary channel of the first joint assembly 135 may have a diameter of between about 0.5 and 1.2 mm. Further, one or more of the channels of the first joint assembly 135 that correspond in position to the channels 131a, 131b, 131c, 131a ', 131 b', 131c ', 132 a', 132b ', 132c (if provided) and 132 c' (if provided), respectively, may have a diameter of between about 0.5 to 1.2 mm. In an example embodiment, the first joint assembly 135 may have a length of between about 3 to 10mm when the proximal and distal ends of the first joint assembly 135 are aligned in a straight line. The first joint assembly 135 may be formed using one or more of a variety of materials and compositions, such as surgical grade metals, high strength aluminum alloys, stainless steel (e.g., 304/304L, 316/316L, and 420), pure titanium, titanium alloys (e.g., Ti6A14V, NiTi), and cobalt chrome alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure.

As shown in at least fig. 3A-F, a distal-most end of the proximal end of the first joint assembly 135 and a proximal-most end of the distal end of the first joint assembly 135 may include one or more sloped sidewalls or the like on one or both sides of the joints of the first joint assembly 135 so as to limit the pivotal movement angle of the second segment 132 relative to the first segment 131 to a maximum of θ 1 (as shown in at least fig. 3C). In exemplary embodiments, the angle θ 1 may be between about 20 and 80 degrees, or preferably between about 30 and 60 degrees. Alternatively, the knuckles of first knuckle assembly 135 may extend or protrude outward from the proximal and distal ends of first knuckle assembly 135 in such a manner as to limit the angle of pivotal movement of second segment 132 relative to first segment 131 to a maximum of θ 1. Other configurations and/or components of the first joint assembly 135 for limiting pivotal movement of the second segment 132 relative to the first segment 131 are also contemplated without departing from the teachings of the present disclosure.

(v) Second joint component (e.g., second joint component 136)

In an example embodiment, the surgical arm 130 may include a second joint assembly 136. The second joint assembly 136 may be configured to pivotally couple the distal end of the second segment 132 to the proximal end of the end effector joint assembly 137. For example, the second joint assembly 136 may include a proximal end that may be secured or fixed to the distal end of the second segment 132. The second joint assembly 136 may also include a distal end that may be secured or fixed to the proximal end of the end effector joint assembly 137. The second joint assembly 136 may also include joints that secure the proximal and distal ends of the second joint assembly 136. In some example embodiments, the joint of the second joint assembly 136 may include an elongated portion, such as a pin or rod, that forms an axis substantially perpendicular to the axis X2 regardless of the position of the proximal end of the end effector assembly 137 relative to the second segment 132.

The second joint assembly 136 may also include a plurality of channels, apertures, etc. For example, the second joint assembly 136 may include one or more main channels (not shown) on each of the proximal and distal ends of the second joint assembly 136. The proximal end of the second joint assembly 136 may include multiple channels (or a single channel or opening), and such channels may be positioned in such a manner as to correspond in position to one or more of the channels 132a, 132b, 132c (if provided), 132a ', 132b ', and 132c ' (if provided) of the second segment 132. The distal end of the second joint assembly 136 may include multiple channels (or a single channel or opening), and such channels may be positioned in such a way as to correspond in position to one or more of the channels of the proximal end of the second joint assembly 136 when the proximal and distal ends of the second joint assembly 136 are aligned (e.g., aligned in a straight line or have their central axes aligned in a straight line). Further, the channel(s) of the distal end of the second joint assembly 136 may be positioned in such a manner as to correspond in position to one or more of the channels of the end effector joint assembly 137 (as described below and in this disclosure). Fig. 9 illustrates an example embodiment of a proximal or distal end of the second joint assembly 136 having a plurality of channels for receiving, guiding, directing, etc., one or more cables (e.g., second joint drive cables 144i or 144j, end effector joint drive cables 146i or 146j, etc., as will be further described in this disclosure).

In an example embodiment, a portion of the proximal and distal ends of the second joint assembly 136 may be formed in a substantially circular shape in cross-section. In other words, the proximal and distal ends of the second joint assembly 136 may be substantially cylindrical in shape. However, it is understood that the proximal and distal ends of the second joint assembly 136 may be formed in cross-section into one or more other shapes and forms without departing from the teachings of the present disclosure. For proximal and distal ends of the second joint assembly 136 having a substantially circular cross-section, the proximal and distal ends of the second joint assembly 136 may be between about 5 to 8mm in diameter. Further, each main channel of the second joint assembly 136 may have a diameter of between about 0.5 to 1.2 mm. Further, one or more of the other channels of the second joint assembly 136 may have a diameter of between about 0.5 to 1.2 mm. In an exemplary embodiment, the second joint assembly 136 may have a length of between about 3 to 10mm when the proximal and distal ends of the second joint assembly 136 are aligned in a straight line. The second joint component 136 may be formed using one or more of a variety of materials and compositions, such as surgical grade metals, high strength aluminum alloys, stainless steel (e.g., 304/304L, 316/316L, and 420), pure titanium, titanium alloys (e.g., Ti6A14V, NiTi), and cobalt chrome alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure.

As shown in at least fig. 3A-F, the distal-most end of the proximal end of the second joint assembly 136 and the proximal-most end of the distal end of the second joint assembly 136 may include one or more angled side walls or the like on one or both sides of the joints of the second joint assembly 136 so as to limit the degree of pivotal movement of the end effector joint assembly 137 relative to the second segment 132 to a maximum of θ 2 (as shown in at least fig. 3C). In exemplary embodiments, the angle θ 2 may be between about 20 and 80 degrees, or preferably between about 30 and 60 degrees. Alternatively, the joints of the second joint assembly 136 may extend or protrude outwardly from the proximal and distal ends of the second joint assembly 136 in such a manner as to limit the degree of pivotal movement of the end effector joint assembly 137 relative to the second segment 132 to a maximum of θ 2. Other configurations and/or components of the second joint assembly 136 for limiting the pivotal movement of the end effector joint assembly 137 relative to the second segment 132 are also contemplated without departing from the teachings of the present disclosure.

(v) End effector joint assembly (e.g., end effector joint assembly 137)

In an example embodiment, the surgical arm 130 may include an end effector joint assembly 137. The end effector joint assembly 137 may be configurable to pivotally couple the distal end of the second joint assembly 136 to the proximal end of the end effector assembly 133. For example, the end effector joint assembly 137 may include a proximal end that may be secured or fixed to the distal end of the second joint assembly 136. The end effector joint assembly 137 may also include a distal end that may be secured or fixed to the proximal end of the end effector assembly 133. The end effector joint assembly 137 may also include joints that secure the proximal and distal ends of the end effector joint assembly 137. In some example embodiments, the joint of the end effector joint assembly 137 may include an elongated portion, such as a pin or rod, that forms an axis substantially perpendicular to the axis X3 regardless of the position of the proximal end of the end effector assembly 133 relative to the distal end of the second joint assembly 136.

The end effector joint assembly 137 may also include one or more channels, apertures, or the like. For example, the end effector joint assembly 137 may include one or more main channels (not shown) on each of the proximal and distal ends of the end effector joint assembly 137. The proximal end of the end effector joint assembly 137 may include one or more channels, and such channels may be positioned in such a manner as to correspond in position to one or more of the channels of the second joint assembly 136. The distal end of the end effector joint assembly 137 may include one or more channels, and such channels may be positioned in such a manner as to correspond in position to one or more of the channels of the end effector joint assembly 137 when the proximal and distal ends of the end effector joint assembly 137 are aligned (e.g., aligned in a straight line or have their central axes aligned in a straight line). Fig. 9 illustrates an example embodiment of a proximal or distal end of the end effector joint assembly 137 having a plurality of channels for receiving, guiding, directing, etc., one or more cables (e.g., end effector joint drive cables 146i or 146j, etc., as will be described further in this disclosure).

In an exemplary embodiment, a portion of the proximal and distal ends of the end effector joint assembly 137 may be formed in cross-section in a substantially circular shape. In other words, the proximal and distal ends of the end effector joint assembly 137 may be substantially cylindrical in shape. However, it is understood that the proximal and distal ends of the end effector joint assembly 137 may be formed in cross-section into one or more other shapes and forms without departing from the teachings of the present disclosure. For proximal and distal ends of the end effector joint assembly 137 having a substantially circular cross-section, the proximal and distal ends of the end effector joint assembly 137 may be between about 5 to 8mm in diameter. Further, each main channel of the end effector joint assembly 137 may have a diameter of between about 2 to 4 mm. Further, one or more of the other channels of the end effector joint assembly 137 may have a diameter of between about 0.5 to 1.2 mm. In an exemplary embodiment, the end effector joint assembly 137 may have a length of between about 4 to 10mm when the proximal and distal ends of the end effector joint assembly 137 are aligned in a straight line. The end effector joint assembly 137 may be formed using one or more of a variety of materials and compositions, such as surgical grade metals, high strength aluminum alloys, stainless steel (e.g., 304/304L, 316/316L, and 420), pure titanium, titanium alloys (e.g., Ti6A14V, NiTi), and cobalt chrome alloys. It is understood in this disclosure that other materials may be used without departing from the teachings of this disclosure.

As shown in at least fig. 3A-F, the distal-most end of the proximal end of the end effector joint assembly 137 and the proximal-most end of the distal end of the end effector joint assembly 137 may include one or more sloped sidewalls or the like on one or both sides of the joints of the end effector joint assembly 137 to limit the degree of pivotal movement of the end effector assembly 133 relative to the second joint assembly 136 to a maximum of θ 3 (as shown in at least fig. 3B). In an exemplary embodiment, the angle θ 3 may be between about 20 and 80 degrees, or preferably between about 30 and 60 degrees. Alternatively, the joints of the end effector joint assembly 137 may extend or protrude outwardly from the proximal and distal ends of the end effector joint assembly 137 in such a manner as to limit the degree of pivotal movement of the end effector assembly 133 relative to the second joint assembly 136 to a maximum of θ 3. Other configurations and/or components of the end effector joint assembly 137 for limiting pivotal movement of the end effector assembly 133 relative to the second joint assembly 136 are also contemplated without departing from the teachings of the present disclosure.

Joint drive assembly (e.g., joint drive assembly 140)

As shown in at least fig. 4A-G and 10A-B, an example embodiment of the surgical system 100 or 200 can include an articulation drive assembly 140. The articulation drive assembly 140 may include one or more mechanisms, devices, etc. that may be configured to drive a component of the surgical arm 130 (e.g., move the component, hold the component in position, constrain the component's motion, oppose the component's motion, etc.) and may include the driving of the component relative to another component of the surgical arm 130. For example, the articulation drive assembly 140 may include a plurality of subassemblies, such as a first articulation drive subassembly 142, a second articulation drive subassembly 144, and/or an end effector articulation drive subassembly 146. Other drive subassemblies for driving the articulation assembly of the surgical arm 130 are also contemplated without departing from the teachings of the present disclosure.

As will be described below and further in this disclosure, the first joint drive subassembly 142 may include a first joint drive subsystem 142a, a first joint drive motor 142 a', first joint drive cables 142i and 142j, and/or a first joint control cable 142 h. The second joint drive subassembly 144 may include a second joint drive subsystem 144a, a second joint drive motor 144 a', second joint drive cables 144i and 144j, and/or a second joint control cable 144 h. The end effector articulation drive sub-assembly 146 may include an end effector articulation drive subsystem 146a, an end effector articulation drive motor 146', end effector articulation drive cables 146i and 146j, and/or an end effector articulation control cable 146 h. The articulation drive assembly 140 may also include any one or more or a combination of gears and/or gear assemblies, including a spur gear arrangement, a planetary gear arrangement, a bevel gear arrangement, a helical bevel gear arrangement, a hypoid gear arrangement, a helical gear arrangement, a worm gear arrangement, and/or any other gear and/or mechanical arrangement (such as a pull wire (wire) and a pulley) without departing from the teachings of the present disclosure. Although the figures illustrate the articulation drive assembly 140 having three subassemblies 142, 144, and 146, it is understood in this disclosure that the articulation drive assembly 140 may have other numbers and/or configurations of subassemblies without departing from the teachings of this disclosure.

These and other components and example embodiments of the articulation drive assembly 140 will now be further described with reference to the drawings.

(i) A first articulation drive subassembly (e.g., first articulation drive subassembly 142)

In an example embodiment, the articulation drive assembly 140 may include a first articulation drive subassembly 142. First joint drive subassembly 142 may be configurable or configured to drive first joint assembly 135 (move first joint assembly 135, maintain the position of first joint assembly 135, constrain the motion of first joint assembly 135, oppose the motion of first joint assembly 135, etc.). The first joint drive subassembly 142 may be configured or arranged to drive the proximal end of the second segment 132 (e.g., move the proximal end, maintain the position of the proximal end, constrain movement of the proximal end, oppose movement of the proximal end, etc.) to pivotally move or rotate about the first joint assembly 135 and/or relative to the distal end of the first segment 131. Such pivoting motion or rotation may be performed about or relative to a joint of first joint assembly 135 that secures the proximal and distal ends of first joint assembly 135.

The first joint drive subassembly 142 may include a first joint drive subsystem 142a, a first joint drive motor 142 a', first joint drive cables 142i and 142j, and/or a first joint control cable 142 h. The first articulation drive sub-assembly 142 may also include one or more levers, spools (or pulleys), or the like for guiding or guiding one or more cables of the first articulation drive sub-assembly 142, such as a first pair of levers 142b and 142c and/or a first pair of sets of spools 142d/142f and 142e/142 g.

In example embodiments, the first joint drive cable 142i may be any cable, a plurality of separate cables, or a plurality of cables (e.g., a plurality of twisted or braided cables) combined or configured as a unitary cable. The first articulation drive cable 142i may be provided, guided, or extended through one or more of the channels of the first segment 131, such as channels 131a, 131b, or 131c (as shown in at least fig. 3F). In an example embodiment, first joint drive cable 142i may also be provided, guided, or extended through one or more of the proximal and distal channels of first joint assembly 135, such as those aligned with, matched to, and/or positioned to correspond with the position of channel 131a, 131b, or 131c of first segment 131. In an example embodiment, the first articulation drive cable 142i may also be provided, guided, or extended through one or more of the channels of the second section 132 (such as the channels 132a, 132b, and/or 132c) and/or at least one of the channels of the proximal end of the second articulation assembly 136 (such as those aligned with, matched to, and/or positioned to correspond with the position of the channel 132a, 132b, or 132c of the second section 132). A proximal end of the first joint drive cable 142i may be connected to, attached to, guided by, or terminated at an end of the first lever 142b of the first pair of levers 142b and 142c, and an end of the first joint control cable 142h may be connected to, attached to, guided by, or terminated at the other end of the first lever 142 c. The distal end of the first articulation drive cable 142i may be connected to, attached to, guided or guided by, or terminated at a first termination point for securing the end of one or more of the first articulation drive cables 142i received in the channel 131a, 131b, or 131c of the first segment 131. The first end joint may be positioned at the distal end of the first joint assembly 135 in such a way that when the first joint drive subsystem 142a applies an increased tension or pulling force (in a direction fixed to the first end joint) to the first joint drive cable 142i (which, as described in this disclosure, may also include a decreased tension or pulling force on the first joint drive cable 142j in a direction fixed to the second end joint), the second segment 132 pivotally moves or rotates in a first direction, with the first end joint positioned at the distal end of the first joint assembly 135 facing the first direction. The first termination point may also be positioned within or on a portion of the second segment 132 in such a manner that when the first articulation drive subsystem 142a applies an increased tension or pulling force (in a direction secured to the first termination point) to the first articulation drive cable 142i (which, as described in this disclosure, may also include a decreased tension or pulling force on the first articulation drive cable 142j in a direction secured to the second termination point), the second segment 132 pivotally moves or rotates in a first direction with the first termination point positioned within or on the second segment 132 facing the first direction. The first end joint may also be positioned at the proximal end of the second joint assembly 136 in such a way that when the first joint drive subsystem 142a applies an increased tension or pulling force (in a direction fixed to the first end joint) to the first joint drive cable 142i (which, as described in this disclosure, may also include a decreased tension or pulling force on the first joint drive cable 142j in a direction fixed to the second end joint), the second segment 132 pivotally moves or rotates in a first direction, with the first end joint positioned at the proximal end of the second joint assembly 136 facing the first direction.

In example embodiments, the first joint drive cable 142j may be any cable, a plurality of separate cables, or a plurality of cables (e.g., a plurality of twisted or braided cables) combined or configured as a unitary cable. The first articulation drive cable 142j may be provided, guided or extended through at least one of the channels of the first segment opposite the channel in which the first articulation drive cable 142i is provided, guided or extended, such as channel 131a ', 131b ' or 131c ' opposite channel 131a, 131b or 131c (as shown in at least fig. 3F). In an example embodiment, the first joint drive cable 142j may also be provided, guided, or extended through one or more of the proximal and distal passages of the first joint assembly 135, such as those aligned with, matched to, and/or positioned to correspond with the positions of the passages 131a ', 131b ', or 131c ' of the first segment 131. In an example embodiment, the first articulation drive cable 142j may also be provided, guided or extended through one or more of the following channels: the channels (such as channels 132a, 132b, and/or 132c) of the second section 132 and/or the proximal end of the second joint component 136 are aligned with, match, and/or are positioned to correspond to the positions of the channels 132a ', 132b ', or 132c ' of the second section 132. A proximal end of the first joint drive cable 142j may be connected to, attached to, guided by, or terminated at an end of the second lever 142c of the first pair of levers 142b and 142c, and the other end of the first joint control cable 142h may be connected to, attached to, guided by, or terminated at the other end of the second lever 142 c. The distal end of the first articulation drive cable 142j may be connected to, attached to, guided or guided by, or terminated at a second termination point for securing the end of one or more of the first articulation drive cables 142j received in the channels 131a ', 131b ', and 131c ' of the first segment 131. The second end joint may be positioned at the distal end of the first joint assembly 135 in such a way that when the first joint drive subsystem 142a applies an increased tension or pulling force (in a direction fixed to the second end joint) to the first joint drive cable 142j (which, as described in this disclosure, may also include a decreased tension or pulling force on the first joint drive cable 142i in a direction fixed to the first end joint), the second segment 132 pivotally moves or rotates in a second direction, with the second end joint positioned at the distal end of the first joint assembly 135 facing the second direction. The second end joint may also be positioned within or on a portion of the second segment 132 in such a way that when the first articulation drive subsystem 142a applies an increased tension or pulling force (in a direction secured to the second end joint) to the first articulation drive cable 142j (which, as described in this disclosure, may also include a decreased tension or pulling force on the first articulation drive cable 142i in a direction secured to the first end joint), the second segment 132 pivotally moves or rotates in a second direction, with the second end joint positioned within or on the second segment 132 facing the second direction. The second end joint may also be positioned at the proximal end of the second joint assembly 136 in such a way that when the first joint drive subsystem 142a applies an increased tension or pulling force (in a direction fixed to the second end joint) to the first joint drive cable 142j (which, as described in this disclosure, may also include a decreased tension or pulling force to the first joint drive cable 142i in a direction fixed to the first end joint), the second segment 132 pivotally moves or rotates in a second direction, with the second end joint positioned at the proximal end of the second joint assembly 136 facing the second direction.

In operation, the first joint drive motor 142 a' may be configurable to receive commands to drive the first joint drive subsystem 142a, such as from a controller, surgeon, or the like. For example, when it is desired to command the second segment 132 to pivotally move or rotate in a first direction (as described above and in this disclosure), the first joint drive motor 142 a' may be configured to receive a command to drive the first joint drive subsystem 142a to apply an increased tension or pulling force (in a direction that is fixed to the first termination point) to the first joint drive cable 142i via the first joint control cable 142h (e.g., also via the first lever 142 b). One or more spools, cable guides, or the like may be provided to guide or extend the first joint control cable 142h from the first joint drive subsystem 142a toward the first lever 142b (e.g., the spools 142d and/or 142 f). As another example, when it is desired to command the second segment 132 to pivotally move or rotate in the second direction (as described above and in this disclosure), the first joint drive motor 142 a' may be configured to receive a command to drive the first joint drive subsystem 142a to apply an increased tension or pulling force (in a direction that is fixed to the second termination point) to the first joint drive cable 142j via the first joint control cable 142h (e.g., also via the second lever 142 c). One or more spools, cable guides, or the like may be provided to guide or extend the first joint control cable 142h from the first joint drive subsystem 142a toward the second lever 142c (e.g., the spools 142e and/or 142 g).

The first joint drive cables 142i and/or 142j may be configured to have a tensile strength and/or to withstand a tension of at least 200N. The first joint drive cables 142i and/or 142j may have a diameter of about 400 to 700 μm. The first articulation drive cables 142i and/or 142j may be formed using one or more of a variety of materials and compositions, such as surgical grade metals, high strength aluminum alloys, stainless steel (e.g., 304/304L, 316/316L, and 420), pure titanium, titanium alloys (e.g., Ti6A14V, NiTi), and cobalt chrome alloys. It is understood that other strengths, dimensions, and/or materials may be used without departing from the teachings of the present disclosure.

(ii) A second articulation drive subassembly (e.g., second articulation drive subassembly 144)

In an example embodiment, the articulation drive assembly 140 may include a second articulation drive subassembly 144. The second joint drive subassembly 144 may be configurable or configured to drive the second joint assembly 136 (e.g., move the second joint assembly 136, maintain the position of the second joint assembly 136, constrain the motion of the second joint assembly 136, oppose the motion of the second joint assembly 136, etc.). The second joint drive subassembly 144 may be configured or configured to drive the proximal end of the end effector joint assembly 137 (e.g., move the proximal end, maintain the position of the proximal end, constrain movement of the proximal end, oppose movement of the proximal end, etc.) to pivotally move or rotate about the second joint assembly 136 and/or relative to the distal end of the second segment 132. Such pivoting motion or rotation may be performed about or relative to a joint of the second joint assembly 136 that secures the proximal and distal ends of the second joint assembly 136.

The second joint drive subassembly 144 may include a second joint drive subsystem 144a, a second joint drive motor 144 a', second joint drive cables 144i and 144j, and/or a second joint control cable 144 h. The second joint drive subassembly 144 may also include one or more levers, spools (or pulleys), or the like, such as second pair of levers 144b and 144c and/or second pair of sets of spools 144d/144f and 144e/144g, for guiding or guiding one or more cables of the second joint drive subassembly 144.

In example embodiments, the second joint drive cable 144i may be any cable, a plurality of separate cables, or a plurality of cables (e.g., a plurality of twisted or braided cables) combined or configured as a unitary cable. A second articulation drive cable 144i may be provided, guided, or extended through one or more of the channels of the first segment 131, such as channels 131a, 131b, or 131c (as shown in at least fig. 3F). In an example embodiment, a second articulation drive cable 144i may also be provided, guided or extended through one or more of the proximal and distal passages of the first articulation assembly 135, such as those aligned with, matched to, and/or positioned to correspond with the position of the passage 131a, 131b, or 131c of the first segment 131. In an example embodiment, a second articulation drive cable 144i may also be provided, guided, or extended through one or more of the channels of the second section 132 (such as channels 132a, 132b, and/or 132c) and/or at least one of the channels of the proximal end of the second articulation assembly 136 (such as those aligned with, matched to, and/or positioned to correspond with the position of the channels 132a, 132b, or 132c of the second section 132). In an example embodiment, a second joint drive cable 144i may also be provided, guided, or extended through one or more of the proximal and distal channels of the second joint assembly 136 (such as those aligned with, matched to, and/or positioned to correspond with the positions of the channels 132a, 132b, and/or 132c) and/or at least one of the proximal channels of the end effector joint assembly 137 (such as those aligned with, matched to, and/or positioned to correspond with the positions of the distal channels of the second joint assembly 136). A proximal end of the second articulation drive cable 144i may be connected to, attached to, guided by, or terminated at an end of the first lever 144b of the second pair of levers 144b and 144c, and an end of the second articulation control cable 144h may be connected to, attached to, guided by, or terminated at the other end of the first lever 144 c. The distal end of the second articulation drive cable 144i may be connected to, attached to, guided or guided by, or terminated at a first termination point for securing the end of one or more of the second articulation drive cables 144i received in the channels 131a, 131b, or 131c (and channels 132a, 132b, or 132 c). The first end joint may be positioned at the distal end of the second joint assembly 136 in such a manner that when the second joint drive subsystem 144a applies an increased tension or pulling force (in a direction secured to the first end joint) to the second joint drive cable 144i (which, as described in this disclosure, may also include a decreased tension or pulling force to the second joint drive cable 144j in a direction secured to the second end joint), the end effector joint assembly 137 pivotally moves or rotates in a third direction, with the first end joint positioned at the distal end of the second joint assembly 136 facing in the third direction. The first end joint may also be positioned within or on a portion of the end effector joint assembly 137 (or the third joint assembly 138, if provided) in such a manner that the end effector joint assembly 137 pivotally moves or rotates in a third direction when the second joint drive subsystem 144a applies an increased tension or pulling force (in a direction secured to the first end joint) to the second joint drive cable 144i (which, as described in this disclosure, may also include a decreased tension or pulling force to the second joint drive cable 144j in a direction secured to the second end joint), with the first end joint positioned within or on the end effector joint assembly 137 facing the third direction.

In example embodiments, the second joint drive cable 144j may be any cable, a plurality of separate cables, or a plurality of cables (e.g., a plurality of twisted or braided cables) combined or configured as a unitary cable. A second articulation drive cable 144j may be provided, guided, or extended through at least one of the channels of the first segment opposite the channel in which the second articulation drive cable 144i is provided, guided, or extended, such as channel 131a ', 131b ', or 131c ' opposite channel 131a, 131b, or 131c (as shown in at least fig. 3F). In an example embodiment, a second articulation drive cable 144j may also be provided, guided or extended through one or more of the proximal and distal ends of the first articulation assembly 135 that align with, match and/or are positioned to correspond with the position of the channel 131a ', 131b ' or 131c ' of the first segment 131. In an example embodiment, a second articulation drive cable 144j may also be provided, guided, or extended through one or more of the following channels: the channels (such as channels 132a, 132b, and/or 132c) of the second section 132 and/or the proximal end of the second joint component 136 are aligned with, match, and/or are positioned to correspond to the positions of the channels 131a ', 131b ', or 131c ' of the second section 132. In an example embodiment, a second joint drive cable 144j may also be provided, guided, or extended through one or more of the proximal and distal channels of the second joint assembly 136 (such as those aligned with, matched to, and/or positioned to correspond with the positions of the channels 132a, 132b, and/or 132c) and/or at least one of the proximal channels of the end effector joint assembly 137 (such as those aligned with, matched to, and/or positioned to correspond with the positions of the distal channels of the second joint assembly 136). A proximal end of the second articulation drive cable 144j may be connected to, attached to, guided by, or terminated at an end of the second lever 144c of the second pair of levers 144b and 144c, and the other end of the second articulation control cable 144h may be connected to, attached to, guided by, or terminated at the other end of the second lever 144 c. The distal end of the second articulation drive cable 144j may be connected to, attached to, guided or guided by, or terminated at a second termination point for securing the end of one or more of the second articulation drive cables 144j received in the channels 131a ', 131b ', and 131c ' of the first segment 131. The second end joint may be positioned at the distal end of the second joint assembly 136 in such a way that when the second joint drive subsystem 144a applies an increased tension or pulling force (in a direction secured to the second end joint) to the second joint drive cable 144j (which, as described in this disclosure, may also include a decreased tension or pulling force to the second joint drive cable 144i in a direction secured to the first end joint), the end effector joint assembly 137 pivotally moves or rotates in a fourth direction, with the second end joint positioned at the distal end of the second joint assembly 136 facing in the fourth direction. The second end joint may also be positioned within or on a portion of the end effector joint assembly 137 in such a manner that when the second joint drive subsystem 144a applies an increased tension or pulling force (in a direction secured to the second end joint) to the second joint drive cable 144j (which, as described in this disclosure, may also include a decreased tension or pulling force to the second joint drive cable 144i in a direction secured to the first end joint), the end effector joint assembly 137 pivotally moves or rotates in a fourth direction, with the second end joint positioned within or on the end effector joint assembly 137 facing in the fourth direction.

In operation, the second joint drive motor 144 a' may be configurable to receive commands to drive the second joint drive subsystem 144a, such as from a controller, surgeon, or the like. For example, when it is desired to command the end effector joint assembly 137 (that is, the segment(s) of the surgical arm 130 distal to the distal end of the second joint assembly 136) to pivotally move or rotate in a third direction (as described above and in this disclosure), the second joint drive motor 144 a' may be configured to receive a command to drive the second joint drive subsystem 144a to apply an increased tension or pulling force (in a direction that is fixed to the first termination point) to the second joint drive cable 144i via the second joint control cable 144h (e.g., also via the first lever 144 b). One or more spools, cable guides, or the like may be provided to guide or extend the second joint control cable 144h from the second joint drive subsystem 144a toward the first lever 144b (e.g., the spools 144d and/or 144 f). As another example, when it is desired to command the end effector joint assembly 137 (that is, the segment(s) of the surgical arm 130 distal to the distal end of the second joint assembly 136) to pivotally move or rotate in a fourth direction (as described above and in this disclosure), the second joint drive motor 144 a' may be configured to receive a command to drive the second joint drive subsystem 144a to apply an increased tension or pulling force (in a direction that is fixed to the second end joint point) to the second joint drive cable 144j via the second joint control cable 144h (e.g., also via the second lever 144 c). One or more spools, cable guides, or the like may be provided to guide or extend the second joint control cable 144h from the second joint drive subsystem 144a toward the second lever 144c (such as the spools 144e and/or 144 g).

The second joint drive cables 144i and/or 144j may be configured to have a tensile strength and/or withstand a tension of at least 200N. The second joint drive cables 144i and/or 144j may have a diameter of about 400 to 700 μm. The second articulation drive cables 144i and/or 144j may be formed using one or more of a variety of materials and compositions, such as surgical grade metals, high strength aluminum alloys, stainless steel (e.g., 304/304L, 316/316L, and 420), pure titanium, titanium alloys (e.g., Ti6A14V, NiTi), and cobalt chrome alloys. It is understood that other strengths, dimensions, and/or materials may be used without departing from the teachings of the present disclosure.

(iii) End effector articulation drive sub-assembly (e.g., end effector articulation drive sub-assembly 146)

In an exemplary embodiment, the articulation drive assembly 140 may include an end effector articulation drive subassembly 146. The end effector joint drive subassembly 146 may be configurable or configured to drive the end effector joint assembly 137 (e.g., move the end effector joint assembly 137, maintain the position of the end effector joint assembly 137, constrain the movement of the end effector joint assembly 137, oppose the movement of the end effector joint assembly 137, etc.). The end effector articulation drive sub-assembly 146 may be configured or configured to drive the end effector assembly 133 (e.g., move the end effector assembly 133, maintain the position of the end effector assembly 133, constrain movement of the end effector assembly 133, oppose movement of the end effector assembly 133, etc.) to pivotally move or rotate about the end effector articulation assembly 137 and/or relative to the distal end of the second articulation assembly 136. Such pivoting motion or rotation may be performed about or relative to joints of the end effector joint assembly 137 that are fixed to the proximal and distal ends of the end effector joint assembly 137.

The end effector articulation drive sub-assembly 146 may include an end effector articulation drive subsystem 146a, an end effector articulation drive motor 146 a', end effector articulation drive cables 146i and 146j, and/or an end effector articulation control cable 146 h. The end effector articulation drive sub-assembly 146 may also include one or more levers, spools (or pulleys), or the like for guiding or guiding one or more cables of the end effector articulation drive sub-assembly 146, such as a third pair of levers 146b and 146c and/or a third pair of sets of spools 146d/146f and 146e/146 g.

In an example embodiment, the end effector articulation drive cable 146i may be any cable, a plurality of separate cables, or a plurality of cables (e.g., a plurality of twisted or braided cables) combined or configured as a unitary cable. The end effector articulation drive cable 146i may be provided, guided, or extended through one or more of the channels of the first segment 131, such as channel 131a, 131b, or 131c (as shown in at least fig. 3F). In an example embodiment, end effector articulation drive cables 146i may also be provided, guided, or extended through one or more of the proximal and distal channels of first articulation assembly 135, such as those aligned with, matched to, and/or positioned to correspond with the position of channels 131a, 131b, or 131c of first segment 131. In an example embodiment, the end effector articulation drive cable 146i may also be provided, guided, or extended through one or more of the channels of the second section 132 (such as the channels 132a, 132b, and/or 132c) and/or at least one of the channels of the proximal end of the second articulation assembly 136 (such as those aligned with, matched to, and/or positioned to correspond with the position of the channel 132a, 132b, or 132c of the second section 132). In example embodiments, end effector articulation drive cables 146i may also be provided, guided, or extended through one or more of the proximal and distal channels of second articulation assembly 136 (such as those aligned with, matched to, and/or positioned to correspond with the positions of channels 132a, 132b, and/or 132c) and/or at least one of the proximal and/or distal channels of end effector assembly 137 (such as those aligned with, matched to, and/or positioned to correspond with the positions of the channels of the distal end of second articulation assembly 136). The end effector joint drive cables 146i may also be provided, guided, or extended through one or more of the channels of the end effector assembly 133 (not shown), and such channels may be aligned with, match, and/or be positioned to correspond with the positions of the channels of the end effector joint assembly 137. The proximal end of the end effector articulation drive cable 146i may be connected to, attached to, guided by, or terminated at the end of the first lever 146b of the third pair of levers 146b and 146c, and the end of the end effector articulation control cable 146h may be connected to, attached to, guided by, or terminated at the other end of the first lever 146 c. The distal end of the end effector articulation drive cable 146i may be connected to, attached to, guided by, or terminated at a first termination point for securing the end of one or more of the end effector articulation drive cables 146i received in the channels 131a, 131b, or 131c (and channels 132a, 132b, or 132 c). The first end joint may be positioned at the distal end of the end effector joint assembly 137 in such a manner that when the end effector joint subsystem 146a applies an increasing tension or pulling force (in a direction secured to the first end joint) to the end effector joint drive cable 146i (which, as described in this disclosure, may also include a decreasing tension or pulling force on the end effector joint drive cable 146j in a direction secured to the second end joint), the end effector assembly 133 pivotally moves or rotates in a fifth direction, with the first end joint positioned at the distal end of the end effector joint assembly 137 facing the fifth direction. The first end joint may also be positioned within or on a portion of the end effector assembly 133 in such a manner that when the end effector articulation subsystem 146a applies an increasing tension or pulling force (in a direction secured to the first end joint) to the end effector articulation drive cable 146i (which, as described in this disclosure, may also include a decreasing tension or pulling force on the end effector articulation drive cable 146j in a direction secured to the second end joint), the end effector assembly 133 pivotally moves or rotates in a fifth direction with the first end joint positioned within or on the end effector assembly 133 facing the fifth direction.

In an example embodiment, the end effector articulation drive cable 146j may be any cable, a plurality of separate cables, or a plurality of cables (e.g., a plurality of twisted or braided cables) combined or configured as a unitary cable. The end effector articulation drive cable 146j may be provided, guided, or extended through at least one of the channels of the first segment in which the end effector articulation drive cable 146i is provided, guided, or extended, such as channel 131a ', 131b ', or 131c ' (as shown in at least fig. 3F) opposite channel 131a, 131b, or 131 c. In an example embodiment, the end effector articulation drive cable 146j may also be provided, guided or extended through one or more of the proximal and distal passages of the first articulation assembly 135, such as those aligned with, matched to, and/or positioned to correspond with the positions of the passages 131a ', 131b ', or 131c ' of the first segment 131. In an example embodiment, the end effector articulation drive cable 146j may also be provided, guided, or extended through one or more of the following channels: the channels (such as channels 132a, 132b, and/or 132c) of the second section 132 and/or the proximal end of the second joint component 136 are aligned with, match, and/or are positioned to correspond to the positions of the channels 131a ', 131b ', or 131c ' of the second section 132. In an example embodiment, the end effector articulation drive cable 146j may also be provided, guided or extended through one or more of the proximal and distal channels of the second articulation assembly 136 (such as those aligned with, matched to and/or positioned to correspond with the positions of the channels 132a, 132b and/or 132c) and/or at least one of the proximal channels of the end effector assembly 137 (such as those aligned with, matched to and/or positioned to correspond with the positions of the distal channels of the second articulation assembly 136). The end effector joint drive cable 146j may also be provided, guided, or extended through one or more of the channels of the end effector assembly 133 (not shown), and such channels may be aligned with, match, and/or be positioned to correspond with the positions of the channels of the end effector joint assembly 137. The proximal end of the end effector articulation drive cable 146j may be connected to, attached to, guided by, or terminated at the end of the second lever 146c of the third pair of levers 146b and 146c, and the other end of the end effector articulation control cable 146h may be connected to, attached to, guided by, or terminated at the other end of the second lever 146 c. The distal end of the end effector articulation drive cable 146j may be connected to, attached to, guided by, or terminated at a second termination point for securing the end of one or more of the end effector articulation drive cables 146j received in the channels 131a ', 131b ', and 131c ' of the first segment 131. The second end joint may be positioned at the distal end of the end effector joint assembly 137 in such a manner that when the end effector joint subsystem 146a applies an increasing tension or pulling force (in a direction secured to the second end joint) to the end effector joint drive cable 146j (which, as described in this disclosure, may also include a decreasing tension or pulling force on the end effector joint drive cable 146i in a direction secured to the first end joint), the end effector assembly 133 pivotally moves or rotates in a sixth direction, with the second end joint positioned at the distal end of the end effector joint assembly 137 facing the sixth direction. The second end joint may also be positioned within or on a portion of the end effector assembly 133 in such a manner that when the end effector articulation subsystem 146a applies an increasing tension or pulling force (in a direction secured to the second end joint) to the end effector articulation drive cable 146j (which, as described in this disclosure, may also include a decreasing tension or pulling force on the end effector articulation drive cable 146i in a direction secured to the first end joint), the end effector assembly 133 pivotally moves or rotates in a sixth direction with the second end joint positioned within or on the end effector assembly 133 facing in a fourth direction.

It is understood in this disclosure that the first, second, third, fourth, fifth, and/or sixth directions may or may not be the same direction and may be movement or rotation relative to the same or different reference axes. For example, the first direction, the third direction, and/or the fifth direction may be a movement or rotation in the same direction, and similarly, the second direction, the fourth direction, and/or the sixth direction may be a movement or rotation in the same direction. As another example, the first direction and the third direction may be a movement or rotation in the same direction, and the fifth direction may be a movement or rotation in a different direction than the first direction and the third direction. Similarly, the second and fourth directions may be movement or rotation in the same direction, and the sixth direction may be movement or rotation in a different direction than the second and fourth directions. Other configurations and motions are also contemplated without departing from the teachings of the present disclosure.

In operation, the end effector joint drive motor 146 a' may be configurable to receive commands to drive the end effector joint drive subsystem 146a, such as from a controller, surgeon, or the like. For example, when it is desired to command the end effector 133 (that is, the segment(s) of the surgical arm 130 distal to the distal end of the end effector joint assembly 137) to pivotally move or rotate in the fifth direction (as described above and in this disclosure), the end effector joint drive motor 146 a' may be configured to receive a command to drive the end effector joint drive subsystem 146a to apply an increased tension or pulling force (in the direction of being secured to the first end joint) to the end effector joint drive cable 146i via the end effector joint control cable 146h (e.g., also via the first lever 146 b). One or more spools, cable guides, or the like may be provided to guide or extend the end effector articulation control cable 146h from the end effector articulation drive subsystem 146a toward the first lever 146b (e.g., the spools 146d and/or 146 f). As another example, when it is desired to command the end effector assembly 133 (that is, the segment(s) of the surgical arm 130 distal to the distal end of the end effector joint assembly 137) to pivotally move or rotate in the sixth direction (as described above and in this disclosure), the end effector joint drive motor 146 a' may be configured to receive a command to drive the end effector joint drive subsystem 146a to apply an increased tension or pulling force (in a direction that is secured to the second end joint) to the end effector joint cable 146j via the end effector joint control cable 146h (e.g., also via the second lever 146 c). One or more spools, cable guides, or the like may be provided to guide or extend the end effector articulation control cable 146h from the end effector articulation subsystem 146a toward the second lever 146c (such as the spools 146e and/or 146 g).

The end effector articulation drive cables 146i and/or 146j may be configured to have a tensile strength and/or withstand a tension of at least 200N. The end effector articulation drive cables 146i and/or 146j may have a diameter of about 400 to 700 μm. The end effector articulation drive cables 146i and/or 146j may be formed using one or more of a variety of materials and compositions, such as surgical grade metals, high strength aluminum alloys, stainless steel (e.g., 304/304L, 316/316L, and 420), pure titanium, titanium alloys (e.g., Ti6a14V, NiTi), and cobalt chrome alloys. It is understood that other strengths, dimensions, and/or materials may be used without departing from the teachings of the present disclosure.

Rotary drive assembly (e.g., rotary drive assembly 150)

As shown in at least fig. 5A-E, an exemplary embodiment of a surgical system 100 or 200 can include a rotary drive assembly 150. Rotational drive assembly 150 may include components that may be configured to drive surgical assembly 100 or 200 (e.g., move or control the movement of the components, hold or control the position of the components, constrain the movement of the components, oppose the movement of the components, etc.), and may include the driving of one component relative to the other component of surgical assembly 100 or 200. For example, the rotary drive assembly 150 may include a plurality of subassemblies, such as a rotary drive subassembly 152, a rotary driven subassembly 154, and/or a rotary drive motor 156. Other drive subassemblies for driving one or more components of the surgical system 100 or 200, including the surgical arm 130, are also contemplated without departing from the teachings of the present disclosure. For example, the rotary drive assembly 150 may include any one or more or a combination of gears, gear assemblies, cables, springs, etc., including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, a helical bevel gear configuration, a hypoid gear configuration, a helical gear configuration, a worm gear configuration, and/or any other gear and/or mechanical configuration (such as a cable and pulley) without departing from the teachings of the present disclosure.

In an example embodiment, the rotational drive assembly 150 may be configurable or configured to rotationally move the surgical arm 130, such as in direction a and/or direction B (as shown in at least fig. 5A). For example, rotational drive assembly 150 may be configurable or configured to rotate surgical arm 130 relative to axis X1 formed by first segment 131 (when the surgical arm is secured to port assembly 110). As another example, rotational drive assembly 150 may be configurable or configured to rotate surgical arm 130 relative to an axis formed by port assembly 110.

In operation, the rotary drive motor 156 may be configurable or configured to receive commands or control instructions from a controller and/or surgeon to drive the rotary motion of the surgical arm 130 by driving the rotary drive subassembly 152, which in turn drives the rotary driven subassembly 154. The rotation driven subassembly 154 may be configurable or configured to be secured to at least a portion of the surgical arm 130, such as the first segment 131, and drive the first arm segment 131 to rotate when the drive subassembly 152 is rotated. Other configurations and motions are also contemplated without departing from the teachings of the present disclosure.

Telescopic drive assembly (e.g., telescopic drive assembly 160)

As shown in at least fig. 6A-C, an exemplary embodiment of the surgical assembly 100 or 200 can include a telescoping drive assembly 160. Telescoping drive assembly 160 may include components that may be configured to drive surgical assembly 100 or 200 (move or control the movement of the components, hold or control the position of the components, constrain the movement of the components, oppose the movement of the components, etc.) and may include the driving of one component relative to another component of surgical assembly 100 or 200. For example, telescoping drive assembly 160 may include a plurality of subassemblies, such as a guide rod subassembly 162, a telescoping drive motor 164, and/or a telescoping anchor 166. Other drive subassemblies for driving one or more components of the surgical system 100 or 200, including the surgical arm 130, are also contemplated without departing from the teachings of the present disclosure. For example, the telescoping drive assembly 160 may include any one or more or a combination of gears, gear assemblies, cables, springs, etc., including a spur gear configuration, a planetary gear configuration, a bevel gear configuration, a helical bevel gear configuration, a hypoid gear configuration, a helical gear configuration, a worm gear configuration, and/or any other gear and/or mechanical configuration (such as a wire and pulley) without departing from the teachings of the present disclosure.

In an example embodiment, the telescoping drive assembly 160 may be configurable or configured to cause linear movement of at least the surgical arm 130 relative to at least the port assembly 110, such as linear movement in direction C and/or direction D (as shown in at least fig. 6B and 6C). For example, the telescoping drive assembly 160 may be configurable or configured to cause forward movement, rearward movement, inward movement toward the patient cavity, and/or outward movement from the patient cavity of the surgical arm 130.

In operation, telescoping drive motor 164 may be configurable or configured to receive commands from a controller and/or surgeon to drive linear movement of surgical arm 130, and such linear movement may be maintained and/or controlled via guide bar assembly 162. To enable such linear movement of surgical arm 130 relative to port assembly 110, a telescoping drive motor 164 may be secured or fixed at one end to a portion of port assembly 110 (e.g., via a telescoping anchor 166) and at another end to a portion of surgical arm 130 (e.g., via first segment 131), a portion of articulation drive assembly 140, and/or a portion of rotational drive assembly 150. Further, the telescoping drive motor 164 may include a lead screw (not shown) or the like operable to control linear motion of the surgical arm 130 by rotating the lead screw in a first direction (e.g., in a clockwise direction to cause forward motion C) and in a second direction (e.g., in a counterclockwise direction to cause rearward motion D).

In an example embodiment, the telescoping drive assembly 160 may be configured to move only the surgical arm 130 linearly. In other example embodiments, telescoping drive assembly 160 may be configurable to move surgical arm 130 and one or more of articulation drive assembly 140 and/or rotary drive assembly 150 linearly. Other configurations and motions are also contemplated without departing from the teachings of the present disclosure.

Controller

In an example embodiment, the surgical system 100 or 200 may include a controller (or computing device, manipulator, and/or primary input device). The controller may include one or more processors. The controller may be configurable to perform one or more of a plurality of actions, operations, and/or configurations in, on, and/or for one or more components of the surgical system 100 or 200. For example, the controller may be configurable to communicate with and/or control one or more components of the surgical system 100 or 200 (e.g., one or more components of the surgical arm assembly 120, one or more components of the surgical arm assembly 130, one or more components of the articulation drive assembly 140, one or more components of the rotary drive assembly 150, and/or one or more components of the telescoping drive assembly 160). The controller may be accessed and/or controlled by a surgeon or surgical team (e.g., via a user interface), and the surgeon or surgical team may be able to communicate with and/or control the configuration and/or operation of one or more components of surgical system 100 or 200. For example, the controller may be configured to control the motion and motion of some or all of the portions of the surgical arm assembly 130, the articulation drive assembly 140, the rotary drive assembly 150, and/or the telescoping drive assembly 160. The controller may be configurable to receive user interaction information (e.g., user interaction information performed by a surgical team) from a user interface (e.g., user interface 910) representing user interactions performed on the user interface (e.g., user interface 910). The controller may be further configurable to process the received user interaction information. The controller may be further configurable to send one or more commands to the surgical arm assembly 130, the articulation drive assembly 140, the rotary drive assembly 150, and/or the telescoping drive assembly 160 based on the processing. The one or more commands transmitted may include commanding the first joint drive subassembly 142 of the joint drive assembly 140 to drive the first joint assembly 135 in such a manner as to move the surgical arm 130 (e.g., the second segment 132) connected to the distal end of the first joint assembly 135 relative to the first segment 131 (and/or to maintain the position of the surgical arm 130 or to keep the surgical arm 130 from moving). The transmitted one or more commands may also include commanding the second articulation drive subassembly 144 of the articulation drive assembly 140 to drive the second articulation assembly 136 in such a manner that the portion of the surgical arm 130 (e.g., the second segment 132) connected to the distal end of the second articulation assembly 136 moves relative to the second segment 132 (and/or maintains the position of the portion or does not move). The one or more commands transmitted may include commanding the end effector joint drive subassembly 146 of the joint drive assembly 140 to drive the end effector joint assembly 137 in such a manner as to cause the portion of the surgical arm 130 (e.g., the end effector assembly 133) connected to the distal end of the end effector joint assembly 137 to move relative to the second joint assembly 136 (and/or to maintain the position of the portion or to maintain the portion from moving).

In an example embodiment, the controller may be configurable to detect a resistance in the motion of at least a portion of the surgical arm assembly 130 (e.g., the end effector assembly 133 and/or the instrument 134) caused by an external factor (e.g., the interior of a patient cavity, another component of the surgical system 100 such as the surgical arm assembly 120 or another surgical arm assembly 130) and communicate a haptic feedback response to the surgeon or surgical team via the user interface. When the controller detects resistance in the motion of at least a portion of the surgical system 100 or 200, the controller may be configured to determine the portion of the surgical system 100 or 200 (e.g., the instrument 134) that encounters the resistance. Further, the controller may be configurable to provide a haptic feedback response to the user interface based on such a determination.

The controller may also be configured to receive one or more of a plurality of responses, feedbacks, actions, and/or measurements from one or more components of the surgical system 100 or 200, including, but not limited to, motions of one or more components of the surgical system 100 or 200, haptic feedback responses, and responses and/or measurements related to position (including orientation), applied force, proximity, temperature, pressure, humidity, etc. of the surgical arm assembly 130.

In an example embodiment, the controller may be configurable to receive user interactions (e.g., user interactions by a surgeon or surgical team) from a user interface that are executed on the user interface that represent commands to the energy source (not shown) to apply a current (e.g., a first current) to the instrument 134. In doing so, such a current (e.g., a first current) enables the instrument 134 to perform the actions of the electrosurgical instrument. In an example embodiment, when the controller receives a user interaction from the user interface that is executed on the user interface that indicates that the energy source is commanded to apply (or not apply) a current (e.g., a first current) to the instrument 134 to perform (or not perform) an action of the electrosurgical instrument, the controller may be configurable to send a command to the energy source that causes the current to be applied (or not applied) to the instrument 134.

In an example embodiment, the controller may be separate from the user interface. Alternatively, the controller may comprise part or all of the user interface, or may be in communication with a processor of the user interface.

User interface

In an example embodiment, the surgical system 100 or 200 may include a user interface (not shown). The user interface may be configurable for use by one or more operators (e.g., one or more members of a surgical team). The user interface may be configurable to receive one or more of a plurality of user interactions by the one or more operators and to command one or more components of the surgical system 100, 200 to perform an action or to prevent performance of an action. Such receipt may be via the controller and/or directly from one or more components of the surgical system 100 or 200. For example, the user interface may be configurable (e.g., via a controller) to control the movement of one or more portions of the surgical system 100 or 200, such as the instrument 134 and other portions of the surgical system 100 or 200.

The user interface may also be configurable to receive one or more of a plurality of responses, feedbacks, actions, and/or measurements from one or more components and/or controllers of the surgical system 100 or 200, including, but not limited to, movements of one or more components of the surgical system 100 or 200, haptic feedback responses, and responses and/or measurements related to position (including orientation), applied force, proximity, temperature, pressure, humidity, etc. of the surgical arm 130.

In an example embodiment, the user interface may be separate from the controller. Alternatively, the user interface may comprise a portion or all of the controller, or may comprise a processor in communication with the controller. The surgical system 100 or 200 may include a memory (not shown) in communication with the controller and/or user interface. The memory may be used to store information received from, processed by, and/or communicated to/from the controller and/or user interface. The user interface may also include one or more graphical interfaces (such as a monitor, projection system, etc.) for displaying video and/or audio content captured by components of the surgical system 100 or 200 (such as the camera 134). The one or more graphical interfaces may also be used to display some or all of the responses, feedback, actions, and/or measurements received from one or more components and/or controllers of the surgical system 100 or 200, including, but not limited to, movements of one or more components of the surgical system 100 or 200, haptic feedback responses, and responses and/or measurements related to position (including orientation), applied force, proximity, temperature, pressure, humidity, etc. of the surgical arm 130.

While various embodiments in accordance with the principles disclosed have been described above, it should be understood that these embodiments are presented by way of example only, and not limitation. Thus, the breadth and scope of an exemplary embodiment described in the present disclosure should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the claims entitled from the present disclosure and their equivalents. Moreover, the above advantages and features are provided in described embodiments, but shall not limit the application of these issued claims to methods and structures that achieve any or all of the above advantages.

For example, "component," "device," "portion," "segment," "member," "body," or other similar terms, shall generally be construed broadly to include one portion or more than one portion attached or connected together.

Various terms used herein have special meanings within the technical field. Whether a particular term should be construed as such a "technical term" depends on the context in which the term is used. For example, "connected," "attached," "anchored," "in communication with …," "in communication," "associated with …," "associated" or other similar terms are to be construed broadly to include attachments, connections, and anchors either directly between the referenced components or through one or more intermediaries. These and other terms are to be interpreted according to their context of use in the present disclosure, and as one of ordinary skill in the art would understand these terms in the context of this disclosure. The above definitions do not exclude other meanings that may be given to these terms based on the context of the disclosure.

As discussed in this disclosure, a computing device, controller, manipulator, primary input device, processor, and/or system may be a virtual machine, computer, node, instance, host, and/or a device in a networked or non-networked computing environment. A networked computing environment may be a collection of devices connected by a communication channel that facilitates communication between the devices and that allows the devices to share resources. As also discussed in this disclosure, a computing device may be a device deployed to execute a program that operates as a socket listener and may include a software instance.

The resources may comprise any type of resource for running an instance, including hardware (such as servers, clients, mainframe computers, networks, network storage, data resources, memory, central processing unit time, scientific equipment, and other computing devices) as well as software, software licenses, available network services, and other non-hardware resources, or a combination thereof.

The networked computing environment may include, but is not limited to, a computing grid system, a distributed computing environment, a cloud computing environment, and the like. Such a networked computer environment includes hardware and software infrastructure configured to form a virtual organization comprised of a plurality of resources that may be located in geographically dispersed locations.

Moreover, the scope of coverage of this application and any patent issued to this application can be extended to one or more communication protocols, including TCP/IP.

Words such as "at.

In addition, section headings herein are provided to be consistent with the suggestions of 37CFR 1.77, or to provide structural clues herein. These headings should not limit or characterize the invention(s) that may be set forth in any claims that may issue from this disclosure. In particular and by way of example, the description of technology in the "background" is not to be construed as an admission that the technology is prior art to any invention(s) in the present disclosure. Neither is the "summary" intended to be considered a characterization of the invention(s) set forth in the authorized claims. In addition, any reference in this disclosure to the singular of "the invention" should not be used to prove that there is only one point of novelty in this disclosure. Inventions may be set forth in terms of the limitations of the various claims entitled from this disclosure, and these claims correspondingly define the invention(s) and their equivalents to be protected thereby. In all instances, the scope of these claims is to be considered in accordance with the disclosure as it pertains to the claims themselves, and not limited by the headings set forth herein.

Claims (30)

1. A surgical system for performing an in vivo surgical action, the surgical system configurable to be inserted into an internal passage of a port assembly, the port assembly serving as an access point into a cavity of a patient, the surgical system comprising:

a surgical arm having a plurality of segments and joint assemblies including first and second segments, an end effector assembly, first and second joint assemblies, and an end effector joint assembly, the first joint assembly pivotally coupling a distal end of the first segment to a proximal end of the second segment, the second joint assembly pivotally coupling a distal end of the second segment to a proximal end of the end effector joint assembly, the end effector joint assembly pivotally coupling a distal end of the second joint assembly to the end effector assembly; and

an articulation drive assembly provided at a proximal end of the first segment, the articulation drive assembly having a plurality of subassemblies, the plurality of subassemblies including:

a first joint drive sub-assembly having a first joint drive sub-system and one or more first joint drive cables connected to a portion of the first joint assembly, the second segment, and/or the second joint assembly, the first joint drive sub-system configurable to activate the second segment to pivotally move in a first direction relative to the first segment and to pivotally move in a second direction opposite the first direction by controlling tension applied to one or more of the first joint drive cables;

a second joint drive sub-assembly having a second joint drive subsystem and one or more second joint drive cables connected to the second joint assembly and/or a portion of the end effector joint assembly, the second joint drive sub-assembly configurable to actuate the proximal end of the end effector joint assembly to pivotally move in a third direction relative to the second segment and to pivotally move in a fourth direction opposite the third direction by controlling tension applied to one or more of the second joint drive cables; and

an end effector articulation drive sub-assembly having an end effector articulation drive subsystem and one or more end effector articulation drive cables connected to the end effector articulation assembly and/or a portion thereof, the end effector articulation drive sub-system configurable to actuate the end effector assembly to pivotally move in a fifth direction relative to the distal end of the second articulation assembly and to pivotally move in a sixth direction opposite the fifth direction by controlling tension applied to one or more of the end effector articulation drive cables.

2. The surgical system of claim 1, further comprising a rotary drive assembly provided at the proximal end of the first segment, the rotary drive assembly configurable to rotate the surgical arm in a first direction relative to an axis formed by an elongated portion of the first segment and to rotate the surgical arm in a second direction opposite the first direction.

3. The surgical system of claim 2, further comprising a telescoping drive assembly securable to the port assembly and the articulation drive assembly, the telescoping drive assembly configurable to provide linear displacement of the surgical arm in a first linear direction and a second linear direction opposite the first linear direction.

4. The surgical system of claim 1, wherein the first segment comprises an elongated body having a plurality of channels therein, the plurality of channels including a channel on an opposite side of the elongated body for receiving at least one of the first joint drive cables, a channel on an opposite side of the elongated body for receiving at least one of the second joint drive cables, and a channel on an opposite side of the elongated body for receiving at least one of the end effector joint drive cables.

5. The surgical system of claim 1, wherein the first joint assembly comprises:

a plurality of channels including a channel on an opposite side of the first joint assembly for receiving at least one of the first joint drive cables, a channel on an opposite side of the first joint assembly for receiving at least one of the second joint drive cables, and a channel on an opposite side of the first joint assembly for receiving at least one of the end effector joint drive cables;

a first termination point for securing an end of one or more of the first articulation drive cables received in the channel of the first articulation assembly, the first termination point being positioned in such a way that the second segment pivotally moves in the first direction when the first articulation drive subsystem applies increased tension to the first articulation drive cable secured to the first termination point, wherein the first termination point faces the first direction; and

a second end contact for securing an end of one or more of the first joint drive cables received in the channel of the first joint assembly, the second end contact being opposite the first end contact, the second end contact being positioned in such a way that the second segment pivotally moves in the second direction when the first joint drive subsystem applies increased tension to the first joint drive cable secured to the second end contact, wherein the second end contact faces the second direction.

6. The surgical system of claim 1, wherein the second segment comprises:

an elongated body having a plurality of channels therein, the plurality of channels including a channel on an opposite side of the elongated body for receiving at least one of the first joint drive cables, a channel on an opposite side of the elongated body for receiving at least one of the second joint drive cables, and a channel on an opposite side of the elongated body for receiving at least one of the end effector joint drive cables;

a first termination point for securing an end of one or more of the first articulation drive cables received in a channel of the second segment, the first termination point being positioned in such a way that the second segment pivotally moves in the first direction when the first articulation drive subsystem applies increased tension to the first articulation drive cable secured to the first termination point, wherein the first termination point faces the first direction; and

a second end contact for securing an end of one or more of the first articulation drive cables received in a channel of the second segment, the second end contact being opposite the first end contact, the second end contact being positioned in such a way that the second segment pivotally moves in the second direction when the first articulation drive subsystem applies increased tension to the first articulation drive cable secured to the second end contact, wherein the second end contact faces the second direction.

7. The surgical system of claim 1, wherein the second joint assembly comprises:

a plurality of channels including a channel on an opposite side of the second joint assembly for receiving at least one of the first joint drive cables, a channel on an opposite side of the second joint assembly for receiving at least one of the second joint drive cables, and a channel on an opposite side of the second joint assembly for receiving at least one of the end effector joint drive cables;

a first termination point for securing an end of one or more of the first articulation drive cables received in the channel of the second articulation assembly, the first termination point being positioned in such a way that the second segment pivotally moves in the first direction when the first articulation drive subsystem applies increased tension to the first articulation drive cable secured to the first termination point, wherein the first termination point faces the first direction; and

a second end contact for securing an end of one or more of the first joint drive cables received in the channel of the second joint assembly, the second end contact being opposite the first end contact, the second end contact being positioned in such a way that the second segment pivotally moves in the second direction when the first joint drive subsystem applies increased tension to the first joint drive cable secured to the second end contact, wherein the second end contact faces the second direction.

8. The surgical system of claim 5, 6 or 7, wherein:

the control of the first joint drive subsystem to apply tension to the first joint drive cable to pivotally move the second segment in the first direction comprises increasing tension of a portion of the first joint drive cable secured to the first end joint and/or decreasing tension of a portion of the first joint drive cable secured to the second end joint; and is

The control of the application of tension to the first articulation drive cable by the first articulation drive subsystem to pivotally move the second segment in the second direction includes an increased tension of a portion of the first articulation drive cable secured to the second end joint and/or a decreased tension of a portion of the first articulation drive cable secured to the first end joint.

9. The surgical system of claim 1, wherein the second joint assembly comprises:

a plurality of channels including a channel on an opposite side of the second joint assembly for receiving at least one of the second joint drive cables and a channel on an opposite side of the second joint assembly for receiving at least one of the end effector joint drive cables;

a first end joint for securing an end of one or more of the second joint drive cables received in the channel of the second joint assembly, the first end joint positioned at a distal end of the second joint assembly in such a manner that the end effector joint assembly pivotally moves in the third direction when the second joint drive subsystem applies increased tension to the second joint drive cables secured to the first end joint, wherein the first end joint faces the third direction; and

a second end joint for securing an end of one or more of the second joint drive cables received in the channel of the second joint assembly, the second end joint opposite the first end joint, the second end joint positioned at a distal end of the second joint assembly in such a manner that the end effector joint assembly pivotally moves in the fourth direction when the second joint drive subsystem applies increased tension to the second joint drive cables secured to the second end joint, wherein the second end joint faces the fourth direction.

10. The surgical system of claim 1, wherein the end effector joint assembly comprises:

a plurality of channels including a channel on an opposite side of the end effector joint assembly for receiving at least one of the second joint drive cables and a channel on an opposite side of the end effector joint assembly for receiving at least one of the end effector joint drive cables;

a first end joint for securing an end of one or more of the second joint drive cables received in the channel of the end effector joint assembly, the first end joint positioned at the proximal end of the end effector joint assembly in such a manner that the end effector joint assembly pivotally moves in the third direction when the second joint drive subsystem applies increased tension to the second joint drive cables secured to the first end joint, wherein the first end joint faces the third direction; and

a second end joint for securing an end of one or more of the second joint drive cables received in the channel of the end effector joint assembly, the second end joint opposite the first end joint, the second end joint positioned at the proximal end of the end effector joint assembly in such a manner that the end effector joint assembly pivotally moves in the fourth direction when the second joint drive subsystem applies increased tension to the second joint drive cables secured to the second end joint, wherein the second end joint faces the fourth direction.

11. The surgical system of claim 9 or 10, wherein:

control, by the second joint drive subsystem, to apply tension to the second joint drive cable to pivotally move the end effector joint assembly in the third direction includes increasing tension of a portion of the second joint drive cable secured to the first end joint and/or decreasing tension of a portion of the second joint drive cable secured to the second end joint; and is

The control of the application of tension to the second joint drive cable by the second joint drive subsystem to pivotally move the end effector joint assembly in the fourth direction includes an increased tension of the portion of the second joint drive cable secured to the second end joint and/or a decreased tension of the portion of the second joint drive cable secured to the first end joint.

12. The surgical system of claim 1, wherein the end effector joint assembly comprises:

a plurality of channels including channels on opposite sides of the end effector joint assembly for receiving at least one of the end effector joint drive cables;

a first end joint for securing an end of one or more of the end effector joint drive cables received in the end effector joint assembly channel, the first end joint positioned at the distal end of the end effector joint assembly in such a manner that the end effector assembly pivotally moves in the fifth direction when the end effector joint drive subsystem applies increased tension to the end effector joint drive cables secured to the first end joint, wherein the first end joint faces the fifth direction; and

a second end joint for securing an end of one or more of the end effector articulation drive cables received in the end effector articulation assembly channel, the second end joint positioned at the distal end of the end effector articulation assembly in such a manner that the end effector assembly pivotally moves in the sixth direction when the end effector articulation drive subsystem applies increased tension to the end effector articulation drive cables secured thereto, wherein the second end joint faces the sixth direction.

13. The surgical system of claim 1, wherein the end effector assembly comprises:

a plurality of channels including channels on opposite sides of the end effector assembly for receiving at least one of the end effector articulation drive cables;

a first end joint for securing an end of one or more of the end effector articulation drive cables received in the end effector assembly channel, the first end joint being positioned in such a way that the end effector assembly pivotally moves in the fifth direction when the end effector articulation drive subsystem applies increased tension to the end effector articulation drive cables secured to the first end joint, wherein the first end joint faces the fifth direction; and

a second end joint for securing an end of one or more of the end effector articulation drive cables received in the channel of the end effector assembly, the second end joint being opposite the first end joint, the second end joint being positioned in such a manner that the end effector assembly pivotally moves in the sixth direction when the end effector articulation drive subsystem applies increased tension to the end effector articulation drive cable secured to the second end joint, wherein the second end joint faces the sixth direction.

14. The surgical system of claim 12 or 13, wherein:

control by the end effector articulation drive subsystem to apply tension to the end effector articulation drive cable to pivotally move the end effector assembly in the fifth direction includes increasing tension of the portion of the end effector articulation drive cable secured to the first end joint and/or decreasing tension of the portion of the end effector articulation drive cable secured to the second end joint; and is

Control by the end effector articulation drive subsystem to apply tension to the end effector articulation drive cable to pivotally move the end effector assembly in the sixth direction includes increasing tension of the portion of the end effector articulation drive cable secured to the second end joint and/or decreasing tension of the portion of the end effector articulation drive cable secured to the first end joint.

15. The surgical system of claim 2, wherein

The rotary drive assembly further comprises:

a transmission gear; and

a driven gear securable to the proximal end of the first segment;

the drive gear may be configured to rotate the driven gear in such a manner as to rotate the surgical arm in the first direction relative to the shaft formed by the elongated portion of the first segment; and is

The drive gear may be configured to drive the driven gear in such a manner as to rotate the surgical arm in the second direction relative to the shaft formed by the elongated portion of the first segment.

16. The surgical system of claim 3, wherein

The telescoping drive assembly further comprises a guide rod; and is

The first linear direction and the second linear direction are parallel to an axis formed by the guide bar.

17. The surgical system of claim 3, wherein one or more of the following applies:

the motions controllable by each of the first articulation drive subassembly, the second articulation drive subassembly, the end effector articulation drive subassembly, the rotary drive assembly, and the telescoping drive assembly may be configured to move independently of each other;

the surgical system comprises at least 5 degrees of freedom, the 5 degrees of freedom comprising the pivotal movement of the second segment relative to the first segment, the pivotal movement of the proximal end of the end effector joint assembly relative to the second segment, the pivotal movement of the end effector assembly relative to the second joint assembly, the rotational movement of the first segment relative to the shaft formed by the elongate portion of the first segment, and the linear displacement of the first segment;

the first segment comprises at least an elongated linear portion and a substantially U-shaped portion connected to a distal end of the elongated linear portion; and/or

The end effector assembly includes an instrument that is a retractor device, an image capture device, or a suction and/or irrigation device.

18. The surgical system of claim 1, wherein one or more of the following applies:

the surgical system further comprises a third joint assembly provided between the first joint assembly and the second segment, a proximal end of the third joint assembly pivotally coupling a distal end of the first joint assembly to a proximal end of the second segment, wherein the first joint assembly pivotally couples the distal end of the first segment to the proximal end of the second segment via the third joint assembly; and/or

The surgical system further includes a fourth joint assembly provided between the second joint assembly and the end effector joint assembly, a proximal end of the fourth joint assembly pivotally coupling a distal end of the second joint assembly to a proximal end of the end effector joint assembly, wherein the second joint assembly pivotally couples the distal end of the second segment to the proximal end of the end effector joint assembly via the fourth joint assembly.

19. A surgical system for performing an in vivo surgical action, the surgical system configurable to be inserted into an internal passage of a port assembly, the port assembly serving as an access point into a cavity of a patient, the surgical system comprising:

a surgical arm having a plurality of segments and joint assemblies including first and second segments, an end effector assembly, a first joint assembly, a second joint assembly, and an end effector joint assembly, the first segment having a first elongated body with a plurality of channels extending within oppositely facing sidewalls of the first elongated body, the second segment having a second elongated body with a plurality of channels extending within oppositely facing sidewalls of the second elongated body, the first joint assembly pivotally couples a distal end of the first segment to a proximal end of the second segment, the second joint assembly pivotally couples the distal end of the second segment to the proximal end of the end effector joint assembly, the end effector joint assembly pivotally coupling a distal end of the second joint assembly to the end effector assembly; and

a joint drive assembly provided at a proximal end of the first segment, the joint drive assembly having a plurality of joint drive subassemblies including a first joint drive subassembly having a first joint drive subsystem, a first pair of levers, a first joint drive cable connecting a first lever of the first pair of levers to a first point, and a corresponding first joint drive cable connecting a second lever of the first pair of levers to a corresponding first point opposite the first point, the first point and the corresponding first point being provided at a distal end of the first joint assembly, the second segment, and/or a distal end of the second joint assembly, the first joint drive cable being provided through a first channel of the second segment and through a first channel of the first segment, the corresponding first joint drive cable being provided through a first channel of the second segment and through the first segment of the second segment A channel opposite a channel and through a channel of the first segment opposite the first channel of the first segment, the first joint drive subsystem configurable to:

actuating the second segment to pivotally move in a first direction relative to the first segment by driving the first lever of the first pair of levers in such a way as to increase the tension of the first articulation drive cable connected to the first point, which faces the first direction, and/or driving the second lever of the first pair of levers in such a way as to decrease the tension of the corresponding first articulation drive cable connected to the corresponding first point; and

actuating the second segment to pivotally move in a second direction relative to the first segment by driving the second lever of the first pair of levers in such a way as to increase the tension of the corresponding first articulation drive cable connected to the corresponding first point, which faces the second direction, and/or to decrease the tension of the first articulation drive cable connected to the first point, which is opposite the first direction.

20. The surgical system of claim 19, wherein the joint drive assembly further comprises a second joint drive subassembly having a second joint drive subsystem, a second pair of levers, a second joint drive cable connecting a first lever of the second pair of levers to a third point, and a corresponding second joint drive cable connecting a second lever of the second pair of levers to a corresponding third point opposite the third point, the third point and the corresponding third point being provided at a distal end of the second joint assembly and/or a proximal end of the end effector joint assembly, the second joint drive cable being provided through a second channel of the second segment and through a second channel of the first segment, the corresponding second point drive cable being provided through a channel of the second segment opposite the second channel of the second segment and through a channel of the first segment opposite the second channel of the first segment, the second joint drive subsystem may be configured to:

activating the proximal end of the end effector joint assembly to pivotally move in a third direction relative to the second segment by increasing a tension of the second joint drive cable connected to the third point and/or decreasing a tension of the second joint drive cable connected to the corresponding third point, the third point facing the third direction; and

activating the proximal end of the end effector joint assembly to pivotally move in a fourth direction relative to the second segment by increasing a tension of the second joint drive cable connected to the corresponding third point that faces the fourth direction and/or decreasing a tension of the second joint drive cable connected to the third point, the fourth direction being opposite the third direction.

21. The surgical system of claim 20 wherein the joint drive assembly further comprises an end effector joint drive subassembly having an end effector joint drive subsystem, a third pair of levers, an end effector joint drive cable connecting a first lever of the third pair of levers to a fifth point, and a corresponding end effector joint drive cable connecting a second lever of the third pair of levers to a corresponding fifth point opposite the fifth point, the fifth point and the corresponding fifth point provided at a distal end of the end effector joint assembly and/or a portion of the end effector assembly, the end effector joint drive cable provided through a third channel of the second segment and through a third channel of the first segment, the corresponding end effector joint drive cable provided through a channel of the second segment opposite the third channel of the second segment and through the first segment A channel of a segment opposite the third channel of the first segment, the end effector articulation drive subsystem configurable to:

activating the end effector assembly to pivotally move in a fifth direction relative to the distal end of the second joint assembly by increasing tension in the end effector articulation drive cable connected to the fifth point and/or decreasing tension in the end effector articulation drive cable connected to the corresponding fifth point, the fifth point facing the fifth direction; and

activating the end effector assembly to pivotally move in a sixth direction relative to the distal end of the second joint assembly by increasing tension in the end effector articulation drive cable connected to the corresponding fifth point that faces the sixth direction that is opposite the fifth direction and/or decreasing tension in the end effector articulation drive cable connected to the fifth point.

22. The surgical system of claim 19, wherein

The first articulation drive sub-assembly further comprises a first articulation control cable connecting the first lever of the first pair of levers to the second lever of the first pair of levers; and is

The first joint drive subsystem drives the first and second levers of the first pair of levers, respectively, by controlling the first joint control cables to pivotally move the second segment in the first and second directions.

23. The surgical system of claim 20, wherein

The second joint drive subassembly further comprises a second joint control cable connecting the first lever of the second pair of levers to the second lever of the second pair of levers; and is

The second joint drive subsystem drives the first and second levers of the second pair of levers, respectively, by controlling the second joint control cables to pivotally move the end effector joint assembly in the third and fourth directions.

24. The surgical system of claim 21, wherein

The end effector articulation drive assembly further comprises an end effector articulation control cable connecting the first lever of the third pair of levers to the second lever of the third pair of levers; and is

The end effector articulation drive subsystem drives the first and second levers of the third pair of levers, respectively, by controlling the end effector articulation control cables to pivotally move the end effector assembly in the fifth and sixth directions.

25. The surgical system of claim 19, further comprising a rotary drive assembly provided at the proximal end of the first segment, the rotary drive assembly configurable to rotate the surgical arm in a first direction relative to an axis formed by an elongated portion of the first segment and to rotate the surgical arm in a second direction opposite the first direction.

26. The surgical system of claim 25, further comprising a telescoping drive assembly securable to the port assembly and the articulation drive assembly, the telescoping drive assembly configurable to provide linear displacement of the surgical arm in a first linear direction and a second linear direction opposite the first linear direction.

27. The surgical system of claim 25, wherein

The rotary drive assembly further comprises:

a transmission gear; and

a driven gear securable to the proximal end of the first segment;

the drive gear may be configured to rotate the driven gear in such a manner as to rotate the surgical arm in the first direction relative to the shaft formed by the elongated portion of the first segment; and is

The drive gear may be configured to drive the driven gear in such a manner as to rotate the surgical arm in the second direction relative to the shaft formed by the elongated portion of the first segment.

28. The surgical system of claim 26, wherein

The telescoping drive assembly further comprises a guide rod; and is

The first linear direction and the second linear direction are parallel to an axis formed by the guide bar.

29. The surgical system of claim 26, wherein one or more of the following applies:

the motions controllable by each of the first articulation drive subassembly, the second articulation drive subassembly, the end effector articulation drive subassembly, the rotary drive assembly, and the telescoping drive assembly may be configured to move independently of each other;

the second surgical arm comprises at least 5 degrees of freedom, the at least 5 degrees of freedom comprising pivotal movement of the second segment relative to the first segment, pivotal movement of the proximal end of the end effector joint assembly relative to the second segment, pivotal movement of the end effector assembly relative to the second joint assembly, rotational movement of the first segment relative to the shaft formed by the elongate portion of the first segment, and linear displacement of the first segment;

the first segment comprises at least an elongated linear portion and a substantially U-shaped portion connected to a distal end of the elongated linear portion; and/or

The end effector assembly includes an instrument that is a retractor device, an image capture device, or a suction and/or irrigation device.

30. The surgical system of claim 19, wherein one or more of the following applies:

the surgical system further comprises a third joint assembly provided between the first joint assembly and the second segment, a proximal end of the third joint assembly pivotally coupling a distal end of the first joint assembly to a proximal end of the second segment, wherein the first joint assembly pivotally couples the distal end of the first segment to the proximal end of the second segment via the third joint assembly; and/or

The surgical system further includes a fourth joint assembly provided between the second joint assembly and the end effector joint assembly, a proximal end of the fourth joint assembly pivotally coupling a distal end of the second joint assembly to a proximal end of the end effector joint assembly, wherein the second joint assembly pivotally couples the distal end of the second segment to the proximal end of the end effector joint assembly via the fourth joint assembly.