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WO2024176225A1 - Système chirurgical robotique, ses procédés d'utilisation et unité de commande robotique - Google Patents

Système chirurgical robotique, ses procédés d'utilisation et unité de commande robotique Download PDF

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Publication number
WO2024176225A1
WO2024176225A1 PCT/IL2024/050192 IL2024050192W WO2024176225A1 WO 2024176225 A1 WO2024176225 A1 WO 2024176225A1 IL 2024050192 W IL2024050192 W IL 2024050192W WO 2024176225 A1 WO2024176225 A1 WO 2024176225A1
Authority
WO
WIPO (PCT)
Prior art keywords
cartridge
arm
surgical
cable
surgical arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IL2024/050192
Other languages
English (en)
Inventor
Noam RACHELI
Dvir Cohen
Yaron LEVINSON
Yiftah NETA
Eyal Maimon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Momentis Surgical Ltd
Original Assignee
Momentis Surgical Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Momentis Surgical Ltd filed Critical Momentis Surgical Ltd
Priority to IL322711A priority Critical patent/IL322711A/en
Priority to AU2024224513A priority patent/AU2024224513A1/en
Publication of WO2024176225A1 publication Critical patent/WO2024176225A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms

Definitions

  • Minimally invasive surgery includes a variety of techniques that cause less damage to a patient than open surgery. Minimally invasive surgery often causes less pain and reduces recovery time for the patient. Minimally invasive surgery may be performed through laparoscopy surgery (e.g., surgery that includes forming small incisions and inserting small tubes and instruments into the patient through the small incisions) and/or robotic surgery.
  • laparoscopy surgery e.g., surgery that includes forming small incisions and inserting small tubes and instruments into the patient through the small incisions
  • a robotic surgical system includes at least one surgical arm including at least one elongated shaft coupling configured to have at least one elongated shaft attached thereto.
  • the at least one surgical arm includes at least one arm coupling and at least one cable input.
  • the at least one cable input is configured to be reversibly attached to and receive mechanical energy from at least one cable.
  • the robotic surgical system also includes at least one cartridge including a plurality of cartridge couplings. At least one of the plurality of cartridge couplings are engageable with the at least one arm coupling to reversibly attach the at least one surgical arm to the at least one cartridge.
  • the at least one surgical arm includes a housing.
  • the at least one arm coupling includes at least one elongated slide extending from the housing.
  • the housing is configured to selectively move along the at least one elongated slide.
  • the at least one the plurality of cartridge couplings are configured to be attached to the at least one elongated slide.
  • the plurality of cartridge couplings includes a hole or recess defined by the at least one cartridge.
  • the at least one elongated slide forms a piston.
  • the plurality of cartridge couplings includes an elongated slide and the at least one arm coupling is configured to be attached to the elongated slide.
  • the at least one surgical arm is configured to selectively move along the elongated slide when the at least one arm coupling is attached to the elongated slide.
  • the at least one surgical arm is moveable relative to the at least one cartridge.
  • the at least one surgical arm includes a first surgical arm and a second surgical arm.
  • Each of the first surgical arm and the second surgical arm are independently reversibly attached or attachable to the at least one cartridge.
  • Each of the first surgical arm and the second surgical arm are independently moveable and controllable.
  • the at least one cartridge includes a first cartridge and a second cartridge that is distinct from the first cartridge.
  • the first cartridge is different than the second cartridge.
  • the at least one surgical arm is attachable to the first cartridge and the second cartridge.
  • the at least one cartridge includes one or more elongated slides.
  • the robotic surgical system further comprising at least one additional cartridge including a single cartridge coupling.
  • the single cartridge coupling is engageable with the at least one arm coupling to reversibly attach the at least one surgical arm to the at least one additional cartridge
  • the robotic surgical system further comprises a support structure, wherein the at least one at least one cartridge is attached to the support structure.
  • the support structure includes at least one of a bed, a cart, or a frame.
  • the at least one cartridge is directly attached to the support structure.
  • the robotic surgical system further comprises at least one intermediate structure attached to the support structure and the at least one cartridge.
  • the at least one intermediate structure indirectly attaches the support structure to the at least one cartridge.
  • the at least one intermediate structure includes a gimbal.
  • the robotic surgical system further comprises the at least one cable is attachable to the at least one cable input of the at least one surgical arm.
  • the at least one cable is not attached to the at least one cartridge or a support structure, wherein the at least one cartridge is attached or attachable to the support structure.
  • the at least one cable includes an outer sheath and at least one inner wire.
  • the at least one inner wire is configured to move relative to the outer sheath.
  • the robotic surgical system further comprises a robotic control unit (“RCU”).
  • the RCU is distinct and spaceable from the at least one surgical arm, the at least one cartridge, and a support structure.
  • the RCU includes one or more mechanical actuators configured to generate the mechanical energy.
  • the RCU includes one or more cable outputs in communication with the one or more mechanical actuators such that the one or more cable outputs receive the mechanical energy from the one or more mechanical actuators responsive to actuation of the one or more mechanical actuator.
  • the at least one cable output is configured to be reversibly attached to and provide mechanical energy to the at least one cable.
  • the at least one surgical arm includes a plurality of surgical arms and the one or more cable outputs include a plurality of cable outputs.
  • the robotic surgical system also includes a plurality of cables connecting each of the plurality of surgical arms to one or more of the plurality of cable outputs. Each of the plurality of surgical arms are independently attached to the one or more of the plurality of cable outputs and independently moveable relative to each other.
  • the RCU further includes at least one processor and non-transitory memory storage medium storing one or more operational instructions.
  • the one or more operation instructions are for at least partially controlling the at least one surgical arm by actuating the one or more mechanical actuators of the RCU when executed by the at least one processor.
  • an RCU for use with a robotic surgical system includes a housing defining an interior region and one or more mechanical actuators disposed in the interior region.
  • the one or more mechanical actuators are configured to generate mechanical energy.
  • the RCU also includes one or more cable outputs disposed on or in the housing.
  • the one or more cable outputs are coupled to the one or more mechanical actuators such that the one or more cable outputs receive the mechanical energy from the one or more mechanical actuators responsive to actuation of the one or more mechanical actuators.
  • the at least one cable output is configured to be reversibly attached to and provide the mechanical energy to the cable.
  • the housing is freely moveable and spaceable from a support structure, at least one cartridge attached to the support structure, and at least one surgical arm attachable to the at least one cartridge.
  • a method of using a robotic surgical system includes providing the robotic surgical system.
  • the robotic surgical system includes at least one surgical arm including at least one elongated shaft coupling configured to have at least one elongated shaft attached thereto.
  • the at least one surgical arm includes at least one arm coupling and at least one cable input.
  • the at least one cable input is configured to be reversibly attached to and receive mechanical energy from at least one cable.
  • the robotic surgical system also includes at least one cartridge including a plurality of cartridge couplings. At least one of the plurality of cartridge couplings are engageable with the at least one arm coupling to reversibly attach the at least one surgical arm to the at least one cartridge.
  • the method also includes attaching the at least one surgical arm to the at least one cartridge by engaging the at least one arm coupling to at least one of the plurality of cartridge couplings. [0028] In another embodiment that may be used with any other embodiment disclosed herein, the method further includes detaching the at least one surgical arm from the at least one cartridge.
  • the at least one cartridge includes a first cartridge and a second cartridge and attaching the at least one surgical arm to the at least one cartridge includes attaching the at least one surgical arm to the first cartridge.
  • the method further includes detaching the at least one surgical arm from the first cartridge, moving the at least one surgical arm from the first cartridge to the second cartridge, and attaching the at least one surgical arm to the second cartridge.
  • moving the at least one surgical arm from the first cartridge to the second cartridge includes moving the at least one surgical arm without any cables attached thereto.
  • the robotic surgical system further includes at least one additional cartridge including a single cartridge coupling and the single cartridge coupling is engageable with the at least one arm coupling to reversibly attach the at least one surgical arm to the at least one additional cartridge.
  • the method further includes attaching the at least one surgical arm to the at least one additional cartridge by engaging the at least one arm coupling to the single cartridge coupling.
  • the method further includes, after attaching the at least one surgical arm to the at least one additional cartridge, detaching the at least one surgical arm from the at least one additional cartridge.
  • the method further includes moving the at least one surgical arm from the at least one additional cartridge to the at least one cartridge. The act of attaching the at least one surgical arm to the at least one cartridge is performed after moving the at least one surgical arm from the at least one additional cartridge to the at least one cartridge.
  • the method further includes, after attaching the at least one surgical arm to the at least one cartridge, detaching the at least one surgical arm from the at least one cartridge.
  • the method further includes moving the at least one surgical arm from the at least one cartridge to the at least one additional cartridge.
  • the method further includes, after moving the at least one surgical arm from the at least one cartridge to the at least one additional cartridge, attaching the at least one surgical arm to the at least one additional cartridge by engaging the at least one arm coupling to the single cartridge coupling.
  • FIG. 1A is an isometric view of a robotic surgical system, according to an embodiment.
  • FIGS. IB and 1C are front elevational and side elevational views, respectively, of the robotic surgical system.
  • FIG. ID is a block diagram of the robotic control unit, according to an embodiment.
  • FIG. IE is a cross-sectional view of the cable taken along plane IE- IE shown in FIG. 1A illustrating an outer sheath and at least one inner wire, according to an embodiment
  • FIG. 2A is an isometric view of a robotic surgical system that includes two cartridges, according to an embodiment.
  • FIG. 2B is a front elevational view of the robotic surgical system.
  • FIG. 3A is an isometric view of a robotic surgical system above a patient, according to an embodiment.
  • FIG. 3B is an enlarged view of the robotic surgical system.
  • FIG. 3C is a cross-sectional schematic of the robotic surgical system shown in FIG.
  • FIG. 4 is an isometric view of a robotic surgical system, according to an embodiment.
  • FIG. 5 is a flow chart of a method of using a robotic surgical system, according to an embodiment.
  • An example robotic surgical system includes at least one surgical arm.
  • the surgical arm includes at least one elongated shaft coupling configured to have at least one elongated shaft attached thereto.
  • the surgical arm also includes at least one arm coupling and at least one cable input.
  • the cable input is configured to be reversibly attached to and receive mechanical energy from at least one cable.
  • the robotic surgical system also includes at least one cartridge including a plurality of cartridge couplings. At least one of the plurality of cartridge couplings are engageable with the arm coupling to reversibly attach the surgical arm to the cartridge.
  • the plurality of cartridge couplings may allow the plurality of surgical arms to be attached to the cartridge.
  • the surgical arm may be reversibly attached to the cartridge.
  • the elongated shaft attached to the surgical arm (e.g., attached to the elongated shaft coupling) may extend from the surgical arm into a body of a patient.
  • the elongated shaft extending into the body of the patient may be used to perform one or more surgical procedures.
  • the elongated shaft may perform the surgical procedure responsive to the surgical arm receiving mechanical energy from a robotic control unit that is spaceable from the surgical arm, the cartridge, and a support structure to which the cartridge is attached. After the surgical procedure performed by the elongated shaft, the elongated shaft may be removed from the body of the individual.
  • the surgical arm may be detached from the cartridge after the elongated shaft is removed from the body.
  • detaching the surgical arm from the cartridge may allow another surgical arm to be attached to the cartridge, such as a surgical arm configured to perform another surgical procedure.
  • detaching the surgical arm from the cartridge may allow the surgical arm to be attached to an additional cartridge and disposed in another region of the body.
  • FIG. 1A is an isometric view of a robotic surgical system 100, according to an embodiment.
  • FIGS. IB and 1C are front and side elevational views, respectively, of the robotic surgical system 100.
  • the robotic surgical system 100 includes a surgical arm 102.
  • the surgical arm 102 includes an elongated shaft 104 extending from the rest of the surgical arm 102 that is configured to be inserted into a body of a patient and perform or otherwise facilitate a surgical procedure.
  • the elongated shaft 104 may include a tool 105 at an end thereof.
  • the robotic surgical system 100 also includes at least one cartridge 106.
  • the surgical arm 102 is reversibly attached to the cartridge 106.
  • the robotic surgical system 100 includes a support structure 108.
  • the cartridge 106 is configured to be attached to the support structure 108 such that the support structure 108 supports the cartridge 106 which, in turn, allows the surgical arm 102 attached to the cartridge 106 is able to conduct the surgical procedure using the elongated shaft 104.
  • the surgical arm 102 may include a housing 110.
  • the housing 110 is configured to at least one of support, enclose, protect, or have attached thereto one or more components of the surgical arm 102.
  • the housing 110 may at least partially enclose an interior region.
  • the housing 110 may be a frame or other structure to which the components of the surgical arm 102 are attached.
  • the surgical arm 102 includes at least one elongated shaft coupling 112.
  • the elongated shaft coupling 112 is disposed on, attached to, or integrally formed with the housing 110.
  • the elongated shaft coupling 112 is configured to have at least one elongated shaft 104 attached thereto.
  • the elongated shaft coupling 112 is configured to have the elongated shaft 104 permanently attached thereto.
  • the elongated shaft coupling 112 may permanently attach the elongated shaft 104 to the housing 110.
  • the elongated shaft coupling 112 is configured to have the elongated shaft 104 reversibly attached thereto.
  • the elongated shaft coupling 112 may include, for example, at least one clamp, a threaded attachment, one or more magnets, a snap-in the attachment, or any other suitable reversible attachment mechanism.
  • the elongated shaft coupling 112 may be positioned on an exterior of the housing 110, easily accessible from an exterior of the housing 110 (e.g., within a recess extending inwardly from the exterior of the housing 110), or otherwise easily accessible by the elongated shaft 104 so that the elongated shaft 104 may be easily detached to an detached from the elongated shaft coupling 112.
  • the surgical arm 102 may include any number of elongated shaft couplings 112 depending on the maximum number of elongated shafts 104 that the surgical arm 102 is configured to have attached thereto.
  • the surgical arm 102 may include a single elongated shaft coupling 112 that is configured to be attached to a single elongated shaft 104.
  • the surgical arm 102 may include a plurality of elongated shaft couplings 112.
  • the elongated shaft couplings 112 may be configured to provide energy (e.g., mechanical energy) to each of the elongated shaft couplings 112 independently of each other, thereby allowing each elongated shaft 104 to be controlled independently.
  • the elongated shaft coupling 112 is configured to provide energy to the elongated shaft 104.
  • Types of energy that the elongated shaft coupling 112 may provide to the elongated shaft 104 include mechanical energy, electrical energy, or any other suitable type of energy.
  • the elongated shaft coupling 112 includes one or more elements that are configured to provide energy to the elongated shaft 104.
  • the elongated shaft coupling 112 is configured to provide mechanical energy to the elongated shaft 104.
  • the elongated shaft coupling 112 may include a mechanical element (e.g., at least one gear, at least one piston, at least one belt, or other mechanical element) configured to engage with the elongated shaft 104 and provide mechanical energy to the elongated shaft 104.
  • the elongated shaft coupling 112 may include a conducting element that is configured to engage with and provide electrical energy to the elongated shaft 104.
  • the elongated shaft coupling 112 may include a fiber optic cable that is configured to provide light to the elongated shaft 104, for example, when the elongated shaft 104 includes a light emitting device.
  • the elongated shaft coupling 112 may include a data port or adaptor that is configure to transfer data between the elongated shaft and the surgical arm, for example, when the elongated shaft includes one or more sensors.
  • the surgical arm 102 includes at least one cable input 114.
  • the cable input 114 may be attached, either directly or indirectly, to the housing 110.
  • the cable input 114 may be attached to an exterior of the housing 110 or another portion of the housing 110 that is easily accessible.
  • the cable input 114 is configured to be reversibly connected to at least one cable 116.
  • the cable input 114 may be attached to the cables 116 using any suitable technique.
  • the cable input 114 may be configured attached to the cables 116 using an interference fit, a snap-in connection, a threaded attachment, or any other suitable technique.
  • the cable input 114 is configured to receive mechanical energy from the cable 116.
  • the cable 116 may include an outer sheath 139 and at least one inner wire 141 extending within the outer sheath 139 (shown in FIG. IE).
  • the inner wire 141 is configured to move (e.g., forwards and backwards) within the outer sheath 139.
  • the movement of the inner wire 141 within the outer sheath 139 is configured to provide mechanical energy.
  • the cable input 114 is configured to receive the mechanical energy from the inner wire 141.
  • the cable input 114 may include a mechanism that is configured to be attached to the inner wire 141 and move as the inner wire 141 moves.
  • Examples of such mechanisms include a clamp, the hole configured to have the inner wire 141 disposed and secured therein, a magnet when the inner wire 141 is a magnetically attractable material, or any other mechanism that may engage with and receive mechanical energy from the inner wire 141. It is noted that the cable input 114 may include a plurality of mechanisms to receive mechanical energy from the cable 116 when the cable 116 includes a plurality of inner wires 141.
  • the surgical arm 102 may include one or more mechanical elements configured to transfer mechanical energy received at the cable input 114 (e.g., mechanical energy generated by the robotic control unit 134) to the elongated shaft coupling 112.
  • the mechanical elements may include one or more of at least one gear, at least one wire (e.g., at least one inner wire movably disposed within an outer sheath, levers, springs, bearings, shafts, belts, or any other suitable mechanical device.
  • the mechanical energy received by the cable input 114 may move the mechanical elements and the movement of the mechanical elements may transfer the mechanical energy from the cable input 114 to the elongated shaft coupling 112.
  • the surgical arm 102 may be free of the mechanical elements which, in turn, further decreases the size and weight of the surgical arm 102.
  • the mechanical energy may be transfers from the cable input 114 to at least the elongated shaft 104 either directly or using non-mechanical elements.
  • the cable input 114 may also receive non-mechanical energy from the cable 116.
  • the cable 116 may be configured to provide electrical energy, light, or fluid transport (e.g., for pneumatic or hydraulic applications).
  • the cable input 114 may include a conductive coupling, fiber optic cable, an inlet of a pipe, or any other suitable coupling.
  • the cable input 114 may include a port or adapter configured to transfer data between the surgical arm 102 and the cable 116, or instance, when the surgical arm 102 or the elongated shaft 104 includes one or more sensors.
  • the surgical arm 102 may also include elements configured to non-mechanically transfer energy and/or data from the cable 116 inlets to the elongated shaft coupling 112 or another location of the surgical arm 102.
  • the surgical arm 102 may include wiring that is configured to transfer electrical energy from the cable inputs 114 to another location of the surgical arm 102, such as to the elongated shaft 104 when the elongated shaft 104 requires electrical energy to operate (e.g., the elongated shaft 104 includes one or more sensors that require electrical energy).
  • the surgical arm 102 may include fiber optic cable that is configured to transfer light from the cable inputs 114 to another location, such as when the elongated shaft 104 includes a light emitting device.
  • the surgical arm 102 may include pipes extending from the cable inputs 114 to another location, such as when the surgical arm 102 is configured to move along an elongated slide 124 using pneumatic or hydraulic power.
  • the surgical arm 102 may include wiring (e.g., cat5 wiring) extending from the cable input 114, for instance, to the elongated shaft coupling 112 when the elongated shaft 104 includes one or more sensors or to a sensor of the surgical arm 102.
  • the surgical arm 102 may include a single cable input 114 or a plurality of cable inputs 114.
  • the surgical arm 102 when the surgical arm 102 includes a plurality of cable inputs 114, at least one of the cable inputs 114 may be different than another cable input 114, thereby allowing the surgical arm 102 to be attached to different cables 116.
  • one of the cable inputs 114 may be configured to be attached to a cable 116 that is configured to provide mechanical energy to the surgical arm 102 and another cable input 114 is configured to receive nonmechanical energy or data from another cable 116.
  • the surgical arm 102 may include a plurality of elongated shaft couplings 112 and a plurality of cable inputs 114.
  • each of the cable input 114 may be in communication with a corresponding one of the plurality of elongated shaft couplings 112 thereby allowing each cable 116 attached to the surgical arm 102 to independently control each elongated shaft 104.
  • the surgical arm 102 may be free of one or more actuators because the surgical arm 102 because the surgical arm 102 is configured to receive mechanical energy from the cable input 114, such as solely from the cable input 114.
  • actuators refer to devices that generate pneumatic, hydraulic, electrical, or mechanical energy and include electric motors, pumps, and compressors. The lack of actuators in the surgical arm 102 decreases the size and weight of the surgical arm 102.
  • the surgical arm 102 may be configured to be reversibly attachable to the cartridge 106.
  • Reversibly attaching the surgical arm 102 to the cartridge 106 provides several benefits, including decreasing the overall size of the robotic surgical system 100 and allowing the robotic surgical system 100 to include fewer surgical arms 102.
  • the decreased size and weight of the surgical arms 102 facilitates handling of the surgical arms 102 such that the surgical arms 102 may be more easily attached and detached from the cartridge 106.
  • the decreased size and weight of the surgical arms 102 may also decrease the size of the cartridge 106 and the support structure 108 that may support the surgical arms 102 and the cartridge 106.
  • the decreased size of the cartridge 106 and the support structure 108 makes it easier to move the robotic surgical system 100 from room-to-room when desired.
  • the decreased size of the surgical arm 102, the cartridge 106, and the support structure may also facilitate quickly removing the one or more components of the robotic surgical system 100 during medical emergencies that may occur during surgery that require direct access to the patient by a medical practitioner.
  • the surgical arms 102 disclosed herein may include one or more actuators attached to or disposed in the housing 110.
  • the actuators disposed in the surgical arms 102 may supplement the mechanical energy provided to the surgical arm 102 from the cables 116 or may provide energy that is not provided to surgical arm 102 from the cables 116 (e.g., the actuator provides electrical power while the cable 116 only provides mechanical energy).
  • the ability of the cable input 114 to receive mechanical energy from the cable 116 may allow the number of actuators of the surgical arm 102 to be decreased or the size of the actuators to be decreased compared to substantially similar surgical arms 102 that are not configured to receive mechanical energy from the cable 116.
  • the surgical arm 102 is configured to receive mechanical energy from the cable input 114.
  • the mechanical energy received from the cable input 114 is used to actuate and control the elongated shaft 104.
  • the mechanical energy may be generated by mechanical actuators 140 of the robotic control unit 134 that is spaceable from the surgical arm 102, as discussed in more detail below.
  • movement of the surgical arm 102 relative to the cartridge 106 may not be controlled and operated using the mechanical energy received by the surgical arm 102.
  • the energy used to control and operate the movement of the surgical arm 102 relative to the cartridge 106 may be received by the surgical arm 102 via the cable 116 (e.g., the energy may be generated by actuators of the robotic control unit 134) or generated by actuators attached to or disposed in the housing 110.
  • the surgical arm 102 may move relative to the cartridge 106 using an electro-mechanical mechanism.
  • the robotic surgical system 100 may include any number of surgical arms 102.
  • the robotic surgical system 100 may include at least four surgical arms (three of the surgical arms are omitted from FIG. 1A such that the cartridge coupling 120 may be shown).
  • the robotic surgical system 100 may include one surgical arm, two surgical arms, three surgical arms, or five or more surgical arms.
  • each of the surgical arms 102 may be independently moveable and controllable
  • the elongated shaft 104 attached or attachable to the surgical arm 102 may include any suitable elongated shaft 104.
  • the elongated shaft 104 may be configured to perform laparoscopic surgery or other minimally invasive surgical procedure.
  • the elongated shaft 104 may include a tool 105 at the end thereof.
  • the tool 105 may include any suitable tool, such as forceps, at least one scalpel, another laparoscopic tool, any other suitable tool, or combinations thereof.
  • the elongated shaft 104 includes the elongated shaft and tool of the Anovo Surgical System manufactured by Momentis Surgical.
  • the elongated shaft 104 may include one or more structures that facilitate reversibly attaching the elongated shaft 104 to the elongated shaft coupling 112.
  • the elongated shaft 104 may include a reinforcement structure that allows the elongated shaft 104 to be attached to the housing 110 using a clamp.
  • at least a portion of the elongated shaft 104 may exhibit a shape that corresponds to a hole or recess formed in the housing 110 that is configured to receive the elongated shaft 104.
  • the elongated shaft 104 may include a magnet or a magnetically attractable material when the elongated shaft 104 is magnetically attached to the elongated shaft coupling 112.
  • the elongated shaft 104 is configured to engage with the mechanical elements of the elongated shaft coupling 112.
  • the elongated shaft 104 may include mechanical elements that mate with the mechanical elements of the elongated shaft coupling 112.
  • the elongated shaft 104 may include at least one gear when the elongated shaft coupling 112 include at least one gear such that movement of the gear of the elongated shaft coupling 112 moves the gear of the elongated shaft 104.
  • the elongated shaft 104 may also include a conductive element configured to receive electrical energy from the elongated shaft coupling 112, a fiber optic cable configured to receive light from the elongated shaft coupling 112, or a wire configured to transfer data between the elongated shaft 104 and the elongated shaft coupling 112.
  • the robotic surgical system 100 includes at least one cartridge 106.
  • the cartridge 106 is configured to be reversibly attached to the surgical arm 102 and to support the surgical arm 102 during a surgical procedure.
  • the cartridge 106 may be attached to a support structure 108. Reversibly attaching the surgical arm 102 to the cartridge 106 allows the surgical arm 102 to be indirectly supported above patient by the support structure 108.
  • the cartridge 106 may be configured to have any suitable number of surgical arms attached thereto.
  • the cartridge 106 may be configured to have four surgical arms 102 attached thereto.
  • the cartridge 106 may be configured to be attached to one surgical arm 102, two surgical arms 102, three surgical arms 102, or five or more surgical arms 102.
  • the number of surgical arms 102 that the cartridge 106 is configured to be attached to may depend on, for example, the number of elongated shafts that a trocar (not shown) inserted into the patient may be able to receive or the expected number of surgical arms needed to be inserted into one or more locations of the body of the patient.
  • the surgical arm 102 includes at least one arm coupling 118 and the cartridge 106 includes at least one cartridge coupling 120.
  • the arm coupling 118 and the cartridge coupling 120 are engageable with each other such that the surgical arm 102 and the cartridge 106 can be reversibly attachable together.
  • the surgical arm 102 and the cartridge 106 may include any suitable number of arm couplings 118 and cartridge couplings 120, respectively.
  • the surgical arm 102 includes a single arm coupling 118.
  • the cartridge 106 may include a single cartridge coupling 120 that is engageable with the single arm coupling 118 or the cartridge 106 may include a plurality of cartridge couplings 120 that are each engagement with the single arm coupling 118 thereby allowing the cartridge 106 to be reversibly attachable to a plurality of surgical arms 102.
  • the cartridge couplings 120 may allow a plurality of surgical arms 102 to be simultaneously attached to the cartridge 106.
  • the surgical arm 102 may include a plurality of arm couplings 118, which may allow for a more secure attachment to the cartridge 106 and minimize bending forces applied to the arm coupling 118 and the cartridge coupling 120.
  • the cartridge 106 may include the same number of cartridge couplings 120 as the surgical arm 102 includes arm couplings 118 such that the cartridge 106 may only be attached to a single cartridge coupling 120 or the cartridge 106 may include more cartridge couplings 120 than the surgical arm 102 includes arm couplings 118 such that the cartridge 106 may be reversibly attached to a plurality of surgical arms 102.
  • the arm coupling 118 and the cartridge coupling 120 may include any structure that allows the surgical arm 102 and the cartridge 106 to be reversibly attached together.
  • the cartridge coupling 120 may include a hole or recess 122 formed therein and the arm coupling 118 may include an elongated slide 124 extending from the housing 110 that is configured to fit into the hole or recess 122. Disposing the elongated slide 124 in the hole or recess 122 may reversibly attach the surgical arm 102 to the cartridge 106.
  • the robotic surgical system 100 may rely on gravity to maintain the elongated slide 124 in the hole or recess 122 or the robotic surgical system 100 may include one or more elements configured to maintain the elongated slide 124 in the hole or recess 122.
  • the elements configured to maintain the elongated slide 124 in the hole or recess 122 may include a screw, a pin, or at least one magnet.
  • the cartridge coupling 120 may include a clamp instead of a hole or recess 122 that is configured to receive and secure the elongated slide 124.
  • the cartridge coupling 120 may include at least one bracket and is configured to be attached to the elongated slide 124 using a screw.
  • the cartridge coupling 120 includes a magnet and the elongated slide 124 may include an oppositely poled magnet or a magnetically attractable material.
  • the cartridge coupling 120 includes the elongated slide 124 (e.g., the cartridge 106 includes a base and the elongated slide 124 extends from the base) and the arm coupling 118 may include a hole or recess configured to receive the elongated slide 124, a clamp, a bracket, or a magnet.
  • the elongated slide 124 of the cartridge coupling 120 decreases the size of the surgical arm 102 which may make detaching the surgical arm 102 from the cartridge 106 or moving the surgical arm 102 between cartridges easier.
  • the robotic surgical system 100 includes an elongated slide 124 that is distinct from both the arm coupling 118 and the cartridge coupling 120.
  • the arm coupling 118 and the cartridge coupling 120 may include a hole, a recess a clamp, a bracket, a magnet or other structure that is configured to be attached to the elongated slide 124.
  • the robotic surgical system 100 does not include the elongated slide 124 and, instead, the arm coupling 118 and the cartridge coupling 120 are configured to be attached using other techniques.
  • the cartridge couplings 120 may be arranged in a linear line.
  • the surgical arms 102 attached to the cartridge 106 may be positioned in a linear line.
  • the cartridge couplings 120 may be arranged in a circle (as shown in FIGS. 3A and 3B), a curved line, two linear lines oriented at an acute angle, or another arrangement that allows the cartridge couplings 120 to be more compactly arranged than if arranged in a linear line.
  • Such a compact arrangement of the cartridge couplings 120 may cause the elongated shafts 104 of the surgical arms 102 attached to the cartridge 106 to be closer together than if the cartridge couplings 120 were arranged in a linear line.
  • the compact arrangement of the cartridge couplings 120 allows each of the elongated shafts 104 of the surgical arms 102 to be inserted into a single incision (e.g., during a single-port/single-incision surgery) while minimizing the size of the single incision.
  • elongated shafts 104 positioned closed together causes the elongated shafts 104 to be more parallel to each other when entering the body which may facilitate the surgical procedure and minimize inadvertent damage to the body than if the cartridge couplings 120 were arranged in a linear line.
  • the relatively small size of the surgical arms 102 allows the surgical arms to be compactly arranged.
  • the surgical arms 102 exhibit a relatively small size because each of the surgical arms 102 do not require a bulky robotic control unit or have a huge structure attached to each surgical arm 102 to provide actuation of the surgical arms 102. Instead, at least mechanical energy is provide to the surgical arms 102 via the cable 116 and the mechanical energy may be generated by a robotic control unit 134 that is spaceable from the surgical arms 102.
  • the surgical arm 102 (e.g., housing 110) is moveable relative to the cartridge 106.
  • the surgical arm 102 may be configured to move towards or away from the patient during surgical procedures (shown schematically using arrows in FIG. IB).
  • Such movement may include moving the surgical arm 102 generally vertically when the surgical arm 102 and the cartridge 106 are positioned above the patient (as shown), horizontally when the surgical arm 102 and the cartridge 106 are positioned on the lateral side of the patient, or any other angle depending on the orientation of the surgical arm 102 and the cartridge 106 relative to the patient and the orientation of the lumen and/or cavity that the elongated shaft 104 is positioned.
  • the movement of the surgical arm 102 may allow the elongated shaft 104 to be inserted into the patient, remove the elongated shaft 104 from the patient, and move the elongated shaft 104 within the patient.
  • the robotic surgical system 100 includes the elongated slide 124
  • at least a portion of the surgical arm 102 may be configured to move relative to the elongated slide 124.
  • the surgical arm 102 may include wheels or gears that engage with (e.g., grip) the elongated slide 124 and movement of the wheels or gears causes the housing 110 to move up and down the elongated slide 124. Movement of the wheels or gears may be caused by mechanical energy provided to the surgical arm 102 by the cable 116.
  • the surgical arm 102 may include a hydraulic or pneumatic piston and the elongated slide 124 forms part of the piston.
  • the cable 116 may provide fluids to the surgical arm 102 that powers the piston or the surgical arm 102 may include a compressor or pump.
  • the cartridge 106 includes wheels or gears that grip the elongated slide 124 and move the elongated slide 124 relative to the cartridge 106.
  • the cartridge 106 may include a hydraulic or pneumatic piston and the elongated slide 124 forms part of the piston.
  • the cartridge 106 does not include one or more actuators. Similar to the surgical arm 102, the cartridge 106 that does not include the actuators may exhibits a size and weight that is less than a substantially similar cartridge that includes actuators. The reduced size and weight of the cartridge 106 may facilitate moving the cartridge 106, such as when the robotic surgical system 100 is moved from room-to-room, during medical emergencies, or when robotic surgical system 100 needs another cartridge 106. That said, the cartridge 106 may include any of the actuators disclosed herein may include one or more actuators, for example, when the cartridge 106 includes a piston.
  • the robotic surgical system 100 may include or be attached to at least one support structure 108.
  • the cartridge 106 is configured to be attached to the support structure 108.
  • the support structure 108 is configured to support the surgical arm 102 and the cartridge 106 above the patient during a surgical procedure.
  • the support structure 108 may include any structure that supports the surgical arm 102 and the cartridge 106.
  • the support structure 108 includes bed 126 or other furniture and a frame 128 attached to the bed 126.
  • the support structure 108 may include a cart (e.g., a bed-side cart on wheels).
  • the support structure 108 may extend from, be attached to, or include a ceiling or wall.
  • the support structure 108 may include a frame 128 that is configured to be set up adjacent to bed 126 and, optionally, overhand at least a portion of the bed 126.
  • the support structure 108 includes one or more components that are detachable from each other.
  • the frame 128 may be detachable from the bed 126 in the illustrated embodiment which may facilitate accessing the patient during medical emergencies and moving the robotic surgical system 100 from room-to-room.
  • the support structure 108 is configured to move.
  • the frame 128 may be configured to move relative to the bed and/or the frame 128 may include one or more joints 130 that are configured to bend. Allowing the support structure 108 to move may facilitate assembly and/or operation of the robotic surgical system 100.
  • a portion of the support structure 108 may be configured to rotate such that the cartridge 106 may be selectively positioned over the patient or to the side of the patient.
  • the support structure 108 may include a joint 130 that allows that allows the support structure 108 to change the height of the cartridge 106 and/or the angle at which the cartridge 106 is oriented which may allow the elongated shaft 104 to be aligned with a lumen or cavity of the patient.
  • the support structure 108 may include a support coupling 132 that is configured to be attached to the cartridge 106.
  • the support coupling 132 may be located at a terminal end of the support structure 108.
  • the support coupling 132 may include any suitable coupling that is configured to be attached to the cartridge 106.
  • the support coupling 132 is configured to be reversibly attachable to the cartridge 106. That is, the cartridge 106 and the support coupling 132 may be configured to be attached together and then detached from each other without damaging the cartridge 106 of the support structure 108.
  • the support coupling 132 may be reversibly attached to the cartridge 106 using any suitable technique, such as any of the reversible attachments disclosed herein.
  • the supporting coupling is configured to have the cartridge 106 permanently attached thereto, such as via a weld.
  • the cartridge 106 is integrally formed with at least a portion of the support structure 108 and the supporting coupling is omitted.
  • the support coupling 132 is configured to allow the cartridge 106 to move relative to the support structure 108. Moving the cartridge 106 relative to the support structure 108 may allow the angle that the elongated shaft 104 extends into the body to be easily changed such that the elongated shaft 104 is aligned with the lumen or cavity of the patient into which the elongated shaft 104 is inserted.
  • the support structure 108 does not include one or more actuators that are configured to actuate the surgical arm 102 or the cartridge 106.
  • the lack of actuators in the support structure 108 may decrease the size and weight of the support structure 108 which, similar to the surgical arm 102 and the cartridge 106, may facilitate moving the robotic surgical system 100 from room-to-room or moving the robotic surgical system 100 during medical emergencies.
  • the support structure 108 may include actuators that do not affect the cartridge 106 or surgical arms 102.
  • the support structure 108 may include actuators that move portions of the bed such that the patient thereon changes between a lying to a sitting position.
  • the support structure 108 may include actuators that actuate the surgical arm 102 or the cartridge 106.
  • the robotic surgical system 100 may include a robotic control unit 134 (“RCU”).
  • the RCU 134 is configured to provide at least the mechanical energy to the surgical arm 102.
  • the RCU 134 includes the actuators 138 that provide at least mechanical energy to the surgical arms 102.
  • the RCU 134 is configured to be separate from and spaceable from the surgical arm 102, the cartridge 106, and the support structure 108 which provides several benefits and improvements to the robotic surgical system 100.
  • the RCU 134 that is separate and spaced and/or spaceable from the surgical arms 102, the cartridge 106, and the support structure 108 allows the surgical arms 102, the cartridge 106, and the support structure 108 to exhibit the decreased size and weight, as discussed above.
  • the RCU 134 that is separate and spaced and/or spaceable from the surgical arms 102, the cartridge 106, and the support structure 108 also allows the RCU 134 to be disposed in any suitable location, such as a location that is out of the way of the medical practitioner(s) performing the surgical procedure on the patient.
  • the RCU 134 may be positioned under the bed 126 if there is a space under the bed 126, in a corner of the room, or in any other suitable location.
  • the RCU 134 that is separate and spaceable from the surgical arms 102, the cartridge 106, and the support structure 108 may allow the RCU 134 to be moved, such as moved away from the patient during medical emergencies, to facilitate observation of the patient during the surgical procedure, or to allow the robotic surgical system 100 to be moved from room-to-room.
  • conventional minimally invasive surgical systems often include devices that include actuators 138 having a fixed positioned (e.g., permanently mounted to the bed or the ceiling above the bed).
  • the fixed position of the devices that include the actuators 138 prevent the devices from being removed during medical emergencies, obstruct views of the patient during observations, and prevent the minimally invasive surgical system from being moved from room-to-room.
  • Other conventional minimally invasive surgical systems require the device that includes the actuators 138 to be directly adjacent to the patient since the surgical arms 102 extend from the device. Such conventional minimally invasive surgical systems minimize the location where the device including the actuator may be disposed and inhibits movement of the device during use.
  • FIG. ID is a block diagram of the RCU 134, according to an embodiment.
  • the RCU 134 includes a housing 136 at least partially defining an interior region.
  • the housing 136 is configured to support, receive, and/or protect one or more components of the RCU 134.
  • the RCU 134 includes one or more actuators 138.
  • the one or more actuators 138 include at least one mechanical actuator 140.
  • the mechanical actuator 140 is configured to generate mechanical energy.
  • the mechanical actuator 140 may include any actuator that is configured to generate mechanical energy.
  • the mechanical actuator 140 may include an electric motor, a hydraulic piston, a pneumatic piston, or any other suitable mechanical actuator.
  • the RCU 134 may include any suitable number of mechanical actuators 140, such as 1, 2 or more, 4 or more, 6 or more, 8 or more, 10 or more, 12 or more, 15 or more, 17 or more, 20 or more, 25 or more, 30 or more, 35 or more, 40 or more, 45 or more, 50 or more, or in ranges of 1 to 4, 2 to 6, 4 to 8, 6 to 10, 8 to 12, 10 to 15, 12 to 17, 15 to 20, 17 to 25, 20 to 30, 25 to 35, 30 to 40, 35 to 45, or 40 to 50 mechanical actuators 140.
  • the number of mechanical actuators 140 may be selected based on a number of factors.
  • the number of mechanical actuators 140 may be selected to be the same as the maximum number of surgical arms 102 that the RCU 134 is configured to be connected.
  • each mechanical actuator 140 may be used to independently control the operation of each surgical arm 102.
  • each mechanical actuator 140 may be able to push and pull on one inner wire 141 of the cable 116.
  • the RCU 134 may include the same number of mechanical actuators 140 as the maximum number of surgical arms 102 that the RCU 134 is configured to operate.
  • the number of mechanical actuators 140 in the RCU 134 may be equal to the maximum number of surgical arms 102 that the RCU 134 is configured to operate times the number of inner wires 141 needed to operate each surgical arm 102.
  • the RCU 134 may include one or more non-mechanical actuators.
  • the RCU 134 may include a compressor or pump that is configured to provide hydraulic or pneumatic power to the surgical arms 102.
  • the RCU 134 may include a light emitting device that is configured to provide light to the surgical arms 102.
  • the RCU 134 includes at least one cable output 142.
  • the cable output 142 may be attached, either directly or indirectly, to the housing 136.
  • the cable output 142 may be attached to an exterior of the housing 136 or another portion of the housing 136 that is easily accessible.
  • the cable output 142 is configured to be reversibly connected to the cables 116.
  • the cable output 142 may be attached to the cables 116 using any suitable technique.
  • the cable output 142 may be configured attached to the cables 116 using an interference fit, a snap-in connection, a threaded attachment, or any other suitable technique.
  • the cable output 142 is in communication with the actuators 138 of the RCU 134 (shown schematically with a line) such that the mechanical energy and, in some embodiments, the other types of energy generated by the actuators 138 may be provided to the cable output 142.
  • the actuators 138 are directly attached to the cable output 142 such that the energy generated by the actuators 138 is provided directly to the cable output 142.
  • the actuators 138 are spaced from the cable output 142.
  • the RCU 134 may include one or more elements that transfer the energy from the actuators 138 to the cable output 142.
  • such elements may include mechanical elements that transfer mechanical energy from the mechanical actuator 140 to the cable outputs 142.
  • Examples of the mechanical elements includes gears, belts, wires, levers, springs, bearings, shafts, or any other mechanical element.
  • such elements may include pipes that transfer the hydraulic or pneumatic energy to the cable outputs 142.
  • such elements may include a fiber optic cable through which the light may travel.
  • the cable output 142 is configured to transfer mechanical energy to the cable 116.
  • the cable 116 may include an outer sheath 139 and at least one inner wire 141 extending within the outer sheath 139.
  • FIG. IE is a cross-sectional view of the cable 116 taken along plane IE- IE shown in FIG. 1A illustrating the outer sheath 139 and the at least one inner wire 141, according to an embodiment.
  • the inner wire 141 is configured to move (e.g., forwards and backwards) within the outer sheath 139.
  • the movement of the inner wire 141 within the outer sheath 139 is configured to provide mechanical energy.
  • the cable output 142 is configured to provide the mechanical energy to the inner wire 141 by moving the wire 141.
  • the cable output 142 may include a mechanism that is configured to be attached to the inner wire 141 and move the inner wire 141. Examples of such mechanisms include a clamp, the hole configured to have the inner wire 141 disposed and secured therein, a magnet when the inner wire 141 includes a magnetically attractable material, or any other mechanism that may engage with and transfer mechanical energy to the inner wire 141.
  • the cable output 142 may include a plurality of mechanisms to provide mechanical energy to the cable 116 when the cable 116 includes a plurality of inner wires 141.
  • the cable output 142 may also provide non-mechanical types of energy to the cable 116.
  • the cable 116 may be configured to provide electrical energy, light, or fluid transport (e.g., for pneumatic or hydraulic applications) to the cable output 142.
  • the cable output 142 may include a conductive coupling, fiber optic cable, an inlet of a pipe, or any other suitable coupling.
  • the cable output 142 may also include a port or adapter configured to transfer data between the surgical arm 102 and the RCU 134 via the cable 116, for instance, when the surgical arm 102 or the elongated shaft 104 includes sensors.
  • the cable output 142 may be configured to merely provide mechanical energy to the cable 116.
  • the cable output 142 may be configured to provide mechanical energy to the cable 116 and at least one of provide one or more non-mechanical types of energy to the cable 116 or transfer data between the cable 116 and the RCU 134.
  • the cable output 142 may include any suitable number of cable outputs 142.
  • the cable outputs 142 may include a single cable output 142 when the RCU 134 is configured to operate a single surgical arm 102 or, more preferably, a plurality of cable outputs 142 (e.g., 2, 3, 4, 5, 6, 7, 8, 9, 10, or more than 10 cable outputs 142) such that the RCU 134 may operate multiple surgical arms 102.
  • the number of cable outputs 142 may be selected for a variety of reasons.
  • the number of cable outputs 142 may be selected based on the maximum number of surgical arms 102 that the RCU 134 is configured to control. In such an example, the number of cable outputs 142 of the RCU 134 may be selected to be at least equal to the maximum number of surgical arms 102. In an example, the number of cable outputs 142 may depend on whether the RCU 134 merely provides mechanical energy to the cables 116 or whether the RCU 134 also provides at least one of non-mechanical energy to the cable 116 or transfer data between the cable 116 and the RCU 134.
  • the number of cable outputs 142 may also depend on whether some of the cable inputs 114 are only able to transfer mechanical energy to the cables 116 or whether the cable inputs 114 can provide mechanical energy and at least one of non-mechanical energy to the cable 116 or transfer data between the cable 116 and the RCU 134.
  • the RCU 134 may be moveable.
  • the RCU 134 may include at least one transportation structure 144 that is configured to facilitate movement of the RCU 134.
  • Examples of the transportation structure 144 may include one or more of a handle, wheels, or other suitable structure or mechanism that enables movement or transport.
  • the RCU 134 may include at least one processor 146 and non- transitory memory 148 storing one or more operational instructions 149.
  • the processor 146 may be configured to execute the operational instructions 149. Responsive to executing the operational instructions 149, the processor 146 may control one or more components of the RCU 134. For example, the processor 146 may execute operational instructions 149 that cause the processor 146 to direct one or more of the mechanical actuators 140 to actuate in a specific manner. The specific actuation of the mechanical actuators 140 may cause the elongated shaft 104 of the surgical arm 102 to operate in a desired manner.
  • the RCU 134 may include one or more of at least one input device 150 and at least one output device 152.
  • the input device 150 allows a user (e.g., medical practitioner or a technician) to input one or more instructions into the RCU 134.
  • the input device 150 may include one or more buttons (e.g., a keyboard), a mouse, at least one joystick, a touchscreen, or any other suitable input device 150.
  • the RCU 134 may also include an output device 152 configured to provide information to the user.
  • the output device 152 may include a plurality of indicator lights, a screen, or any other suitable output device 152.
  • the processor, memory 148, input device 150, and output device 152 allows the RCU 134 to form the controller than a medical practitioner uses to control the robotic surgical system 100 during the surgical operation.
  • the medical practitioner may directly use to the input device 150 to input instructions into the RCU 134 which causes the RCU 134 to manipulate the elongated shaft 104 during the surgical procedure and the output device 152 provides sufficient information to the medical practitioner for the medical practitioner to conduct the surgical procedure.
  • configuring the RCU 134 to be the controller may prevent the RCU 134 to being disposed in any suitable location since the RCU 134 needs to be easily accessible by the medical practitioner during the procedure.
  • the RCU 134 does not form the controller.
  • the robotic surgical system 100 includes a controller (not shown) separate from the RCU 134 that forms the controller and RCU 134 may include a transceiver 154 that allows the RCU 134 to communicate with the controller.
  • the RCU 134 may receive instructions from the controller responsive to the medical practitioner inputting instructions into the controller. The instructions received by the RCU 134 may cause the RCU 134 to actuate the actuators 138 thereof which, in turn, causes the surgical arm 102 and the elongated shaft 104 to perform the surgical procedure.
  • the RCU 134 includes a power source 156.
  • the power source 156 is configured to provide electrical power to one or more components of the RCU 134.
  • the power source 156 may provide electrical power to the actuators 138 thereby allowing the actuators 138 to actuate.
  • the power source 156 is an electrical cord that is configured to be inserted into a power outlet.
  • the power source 156 is a battery which may allow the RCU 134 to be spaced from electrical outlets but may increase the weight of the RCU 134.
  • the robotic surgical system 100 includes at least one cable 116.
  • the cables 116 includes a first end that is configured to be reversibly attached to the cable input 114 of the surgical arm 102 and a second end that is configured to be reversibly attached to the cable output 142 of the RCU 134.
  • the cables 116 includes an outer sleeve and at least one inner wire that is configured to move relative to the outer sleeve. The movement of the inner wire transfers mechanical energy from the RCU 134 to the surgical arm 102.
  • the cables 116 may also include other components, such as wires configured to conduct electrical energy and/or transfer data between in the surgical arm 102 and the RCU 134, pipes configured to move fluid between the surgical arm 102 and the RCU 134, or fiber optic cables. In an embodiment, all of the cables 116 are configured to transfer mechanical energy. In an embodiment, at least one of the cables 116 is configured to transfer mechanical energy and at least one other cable 116 is not configured to transfer mechanical energy.
  • the cables 116 may exhibit any suitable length.
  • the cables 116 may exhibit a length of about 1 m or greater, about 2 m or greater, about 3 m or greater, about 5 m or greater, about 6 m or greater, about 7 m or greater, about 8 m or greater, about 9 m or greater, about 10 m or greater, or in ranges of about 1 m to about 3 m, about 2 m to about 4 m, about 3 m to about 5 m, about 4 m to about 6 m, about 5 m to about 7 m, about 6 m to about 8 m, about 7 m to about 9 m, or about 8 m to about 10 m.
  • the length of the cables 116 dictates the maximum distance that the RCU 134 may be spaced from the surgical arm 102. As such, the length of the cables 116 may be selected based on the distance between the RCU 134 and the surgical arms 102 or the size of the room that the robotic surgical system 100 is positioned in.
  • the cables 116 are attached to no component other than the surgical arm 102 and the RCU 134.
  • the cables 116 may not be attached to the cartridge 106 or the support structure 108. Not attaching the cables 116 to any component other than the surgical arm 102 and the RCU 134 may prevent the cables 116 from impeding movement of the cartridge 106 or the support structure 108 and may prevent the cartridge 106 or the support structure 108 from impeding movement of the cables 116.
  • the cables 116 may be reversibly attached to the surgical arm 102 and the RCU 134. That is, the cables 116 may be reversibly attached to the cable input 114 and the cable output 142 of the surgical arm 102 and the RCU 134, respectively. As such, the cables 116 may be detached from the surgical arm 102 when attaching or detaching the surgical arm 102 from the cartridge 106, moving the surgical arm 102, or moving the RCU 134. Detaching the cables 116 may facilitate such operations.
  • the cables 116 may be fixedly attached to the cable input 114 of the surgical arm 102 and reversibly attached to the cable output 142 of the RCU 134 or reversibly attached to the cable input 114 of the surgical arm 102 and fixedly attached to the cable output 142 of the RCU 134.
  • the robotic surgical system 100 may include one or more components other than what is illustrated in FIGS. 1A-1D.
  • the robotic surgical system 100 may include a controller that is separate from the RCU 134 that is configured to be operated by a medical practitioner during a surgical procedure.
  • the robotic surgical system 100 may include a trocar that is configured be inserted into the patient’s body and allow the elongated shaft 104 to be inserted into the body.
  • FIGS. 1A-1C includes a single cartridge.
  • the robotic surgical systems disclosed herein may include a plurality of cartridges.
  • FIG. 2A is an isometric view of a robotic surgical system 200 that includes two cartridges, according to an embodiment.
  • FIG. 2B is a front elevational view of the robotic surgical system 200.
  • the robotic surgical system 200 is the same as or substantially similar to any of the robotic surgical systems disclosed herein.
  • the robotic surgical system 200 includes at least one surgical arm 202, at least one support structure 208, at least one cable 216, and an RCU 234.
  • the robotic surgical system 200 includes a first cartridge 206a and a second cartridge 206b that is distinct and separate from the first cartridge 206a. Except as otherwise disclosed herein, the first and second cartridges 206a, 206b may be the same or substantially similar to any of the cartridges disclosed herein.
  • each of the first and second cartridge 206a, 206b may include one or more cartridge couplings 220 that are configured to be reversibly attached to the surgical arm 202.
  • the first and second cartridge 206a, 206b provide additional flexibly, configurability, and functionality to the robotic surgical system 200 than if the robotic surgical system 200 only included a single cartridge.
  • the first and second cartridges 206a, 206b allow the robotic surgical system 200 to include more surgical arms 202 that are actively attached to the first and second cartridges 206a, 206b than if the robotic surgical system 200 only included one of the first cartridge 206a or the second cartridge 206b.
  • the first and second cartridges 206a, 206b allows the robotic surgical system 200 to insert elongated shafts 204 into two separate regions of the patient since the first cartridge 206a may be disposed above a first region of the patient (e.g., a first incision location) and above a second region of the patient (e.g., a second incision location).
  • the first and second cartridges 206a, 206b facilitate assembly and use of the robotic surgical system 200 since the first and second cartridges 206a, 206b may each exhibit a size and weight that is less than a single cartridge configured to perform the tasks of both the first and second cartridges 206a, 206b. It is noted that the robotic surgical system 200 may include one or more additional cartridges other than the first and second cartridges 206a, 206b.
  • the first and second cartridges 206a, 206b may also decrease the number of surgical arms 202 included in the robotic surgical system 200.
  • the robotic surgical system 200 may include a first surgical arm.
  • the first surgical arm may be attached to the first cartridge 206s.
  • the elongated shaft of the first surgical arm may then be inserted into a first incision location on the patient that the first cartridge 206a is positioned above. While in the first incision location, the elongated shaft of the first surgical arm may be used to perform a first surgical procedure.
  • the first surgical arm may be detached from the first cartridge 206a and then attached to the second cartridge 206b.
  • the elongated shaft of the first surgical arm may then be inserted into a second incision location on the patient that the second cartridge 206b is positioned above. While in the second incision location, the elongated shaft of the first surgical arm may be used to perform a second surgical procedure.
  • the robotic surgical system 200 may only need a single surgical arm to perform the first and second surgical procedures. It is noted that other surgical arms attached to the first cartridge 206a and/or the second cartridge 206b may have other surgical arms attached thereto that have elongated shafts inserted into the patient while the first and second surgical procedures are performed and/or while moving the first surgical arm from the first cartridge 206a to the second cartridge 206b.
  • first surgical arm may be first attached to the second cartridge 206b and then attached to the first cartridge 206a.
  • ability to move the first surgical arm between the first and second cartridge 206a, 206b may allow greater flexibility when performing a single -port/single-incision surgery. For example, during a single - port/single-incision surgery, a plurality of surgical arms may be inserted through a single incision. However, during the single -port/single-incision surgery, access to another portion of the patient’s body (e.g., another location on the patient’s abdomen) from a different location may be needed or otherwise beneficial.
  • the surgical arms may be removed from the single incision and the removed surgical arm may be introduced somewhere else into the body of the patient using a different incision.
  • the first and second cartridges 206a, 206b may be the same.
  • the first and second cartridges 206a, 206b may be different.
  • the first cartridge 206a may be configured to be attached to more surgical arms 202 than the second cartridge 206b.
  • the first cartridge 206a and the second cartridge 206b may be disposed over a first incision location and a second incision location, respectively, wherein it is desirable to insert more elongated shafts into the first incision location than the second incision location.
  • the first cartridge 206a may have elongated shaft couplings 220 that are different than the elongated shaft couplings 220 of the second cartridge 206b.
  • the first and second cartridges 206a, 206b may allow the robotic surgical system 200 to include surgical arms 202 having different arm couplings 218.
  • the support structure 208 may include one or more distinct components that are configured to be attached to the first cartridge 206a and the second cartridge 206b.
  • the support structure 208 may include a first frame 228a that is configured to be attached to the first cartridge 206a and a second frame 228b that is configured to be attached to the second cartridge 206b.
  • the first and second frames 228a, 228b allow the first and second cartridges 206a, 206b to be independently moved.
  • FIG. 3A is an isometric view of a robotic surgical system 300 above a patient 358, according to an embodiment.
  • FIG. 3B is an enlarged view of the robotic surgical system 300.
  • FIG. 3C is a cross-sectional schematic of the robotic surgical system 300 taken along plane 3C- 3C shown in FIG. 3B.
  • the robotic surgical system 300 is the same as or substantially similar to any of the robotic surgical systems disclosed herein.
  • the robotic surgical system 300 includes at least one surgical arm 302 having at least one elongated shaft 304, at least one cartridge 306, a support structure 308, at least one cable 316, and an RCU 334. It is noted that three of the four surgical arms 302 illustrated in FIG. 3B, the cables 316, and the RCU 334 are omitted from FIG. 3A to better illustrate some of the structure of the robotic surgical system 300 and for illustrative purposes.
  • the cartridge 306 may exhibit a structure different than the structures discussed above.
  • the cartridge 306 may include at least one elongated slide.
  • the elongated slides collectively form the cartridge.
  • the cartridge 306 may be formed from a plurality of pieces when the cartridge 306 is formed from a plurality of elongated slides.
  • the surgical arm 302 may be configured to move up and down the cartridge 306, as previously discussed.
  • the cartridge 306 that is an elongated slide may decrease the volume and weight of the cartridge 306 thereby decreasing the overall volume and weight of the robotic surgical system 300 and facilitating movement of the cartridge 306.
  • the cartridge 306 is not directly attached to the support structure 306.
  • the robotic surgical system 300 includes at least one intermediate structure that is attached to both the cartridge 306 and the support structure 308.
  • the cartridge 306 is indirectly attached to the support structure 306 via the intermediate structure.
  • the intermediate structure may include a gimbal 360.
  • the gimbal 360 is configured to move (e.g., tilt and/or rotate) relative to an incision location on the patient. Movement of the gimbal 360 causes the at least one cartridge 306 attached thereto and the at least one surgical arm 302 attached to the cartridge 306 to also move relative to the incision location.
  • the movement of the gimbal 360 may cause the angle and orientation of the elongated shaft (omitted from FIGS. 3A and 3B for illustrative purposes so the elongated slides of the cartridge 306 may be more easily seen, shown in FIG. 3C) relative to the patient.
  • the movement of the gimbal 360 may be used to align the elongated shaft with the cavity or lumen of the patient 358 into which the elongated shaft will be inserted. It is noted that the gimbal 360 may be used with any of the other cartridges disclosed herein.
  • the gimbal 360 may include a gimbal coupling 362 that is configured to have the cartridge 306 attached thereto.
  • the gimbal coupling 362 may include any of the couplings disclosed herein or any other suitable coupling.
  • the gimbal coupling 362 may include a hole or recess defined by the gimbal 360 that may receive a portion of the cartridge 306.
  • the cartridge 306 may be maintained in the hole or recess using gravity, a screw, a magnet, a snap-in connection, or any other device.
  • the gimbal coupling 362 may include a bracket and a screw, a magnet, or any other suitable coupling.
  • the intermediate structure may include a trocar 364 or include a trocar attached thereto.
  • the gimbal 360 may include the trocar 364.
  • the trocar 364 is configured to be inserted through an incision made in the patient and forms a passageway through which the elongated shaft may be inserted into the patient.
  • the trocar 364 may include any suitable trocar.
  • the trocar 364 may include a trocar that is configured to receive one elongated shaft, two elongated shafts simultaneously, three elongated shafts simultaneously, four elongated shafts simultaneously, five elongated shafts simultaneously, or six of more elongated shafts simultaneously.
  • the trocar 364 may be distinct from and not attached to the intermediate structure.
  • the support structure 308 includes a support coupling 332 that is configured to attach the gimbal 360 to the support structure 308.
  • the support coupling 332 may be the same as or substantially similar to any of the support couplings disclosed herein.
  • the gimbal 360 does not have to be attached to the cartridge 306 when the robotic surgical system 300 includes the gimbal 360.
  • the gimbal 360 may form part of the support structure 308 thereby allowing the support structure 308 to move.
  • the cartridge 306 may be directly attached to the support structure 308.
  • at least a portion of the cartridge 306 e.g., one or more of the elongated slides may be directly attached to both the support structure 308 and the gimbal 360 such that the cartridge 306 attaches the gimbal 360 to the support structure 308.
  • FIG. 4 is an isometric view of a robotic surgical system 400, according to an embodiment. Except as otherwise disclosed herein, the robotic surgical system 400 may be the same as or substantially similar to any of the robotic surgical systems disclosed herein.
  • the robotic surgical system 400 includes a first portion.
  • the first portion of the robotic surgical system 400 is the same as a portion of the robotic surgical system 300 illustrated in FIGS. 3A and 3B.
  • the first portion of the robotic surgical system 400 includes at least one surgical arm 302, at least one cartridge 306 in the form of an elongated slide, a support structure 308, and an intermediate structure (e.g., gimbal 360) that attaches the cartridge 306 to the support structure 308.
  • the first portion of the robotic surgical system 400 may include any other structure disclosed herein (e.g., a portion of the robotic surgical system 100 illustrated in FIGS. 1A-1C) or may be omitted.
  • the robotic surgical system 400 includes a second portion.
  • the second portion of the robotic surgical system 400 includes at least one cartridge 406 that is in the form of an elongated slide.
  • the cartridge 406 is directly attached to a support structure 408.
  • the support structure 408 may include a support coupling (not shown, obscured) that is configured to be attached to the cartridge 406.
  • the support coupling may include, for example, a clamp, a magnet, a bracket, or any other suitable coupling.
  • support structure 408 may be a frame that is attached to the support structure 308.
  • the cartridge 406 may also be attached to a trocar 462. Similar to the other cartridges disclosed herein, the cartridge 406 may be configured to be attached to at least one surgical arm 402.
  • FIG. 5 is a flow chart of an example method 500 of using any of the robotic surgical systems disclosed herein, according to an embodiment.
  • the example method 500 may include one or more operations, functions, or actions as illustrated by one or more of blocks 505, 510, 515, and/or 520.
  • the method 500 includes block 505, which includes “attaching a surgical arm to a first cartridge.” After block 505, the method 500 may include block 510, which includes “detaching the surgical arm from the first cartridge.” After block 510, the method 500 may include block 515, which includes “moving the surgical arm from the first cartridge to a second cartridge.” After block 515, the method 500 may include 520, which includes “attaching the surgical arm to the second cartridge.”
  • the blocks 505, 510, 515, and 520 of the method 500 are provided for illustrative purposes only. In an example, one or more of the blocks of the method 500 may be omitted. In an example, one or more of the blocks of the method 500 may be supplemented, combined, or performed in a different order. In an example, one or more additional blocks may be added to the method 500, such as attaching the first cartridge and/or the second cartridge to a support structure.
  • Block 505 includes “attaching a surgical arm to a first cartridge.”
  • the surgical arm and the first cartridge may include any of the surgical arms or cartridges disclosed herein, respectively.
  • the surgical arm may be attached to the first cartridge by engaging the arm couplings of the surgical arm with the cartridge coupling of the first cartridge.
  • the cartridge coupling of the first cartridge may include a plurality of cartridge couplings.
  • the surgical arm may be attached to the first cartridge by engaging the arm couplings with one, some, or all of the cartridge couplings of the first cartridge.
  • block 505 may include attaching one or more additional surgical arms to the first cartridge.
  • the block 505 may include attaching at least one cable to the surgical arm after attaching the surgical arm to the first cartridge which prevents the cable from interfering with the rest of block 505.
  • Block 510 includes “detaching the surgical arm from the first cartridge.”
  • the surgical arm may be detached from the first cartridge by disengaging the arm couplings from the cartridge couplings.
  • the arm coupling may include an elongated slide and the cartridge coupling may include at least one hole or recess.
  • the arm coupling may be disengaged from the cartridge coupling by removing the elongated slide from the hole or recess.
  • block 510 may include detaching at least one cable attached to the surgical before detaching the surgical arm from the first cartridge to prevent the cable from interfering with the rest of block 510.
  • the robotic surgical system may include a plurality of cartridges, such as the first cartridge and a second cartridge that is distinct from the first cartridge.
  • the method 500 may include blocks 515 and 520.
  • Block 515 includes “moving the surgical arm from the first cartridge to a second cartridge.”
  • the surgical arm is not attached to at least one cable as the surgical arm is moved from the first cartridge to the second cartridge which may prevent the cable from interfering with moving the surgical arm and decreases the likelihood that the surgical arm is dropped while moving.
  • detaching the cable may prevent or at least decrease the likelihood that the cable becomes tangled during block 515 and, if the cable does become tangled, allows the cable to be easily detangled.
  • Block 520 includes “attaching the surgical arm to the second cartridge.”
  • the second cartridge may include any of the cartridges disclosed herein.
  • the surgical arm may be attached to the second cartridge by engaging the arm couplings of the surgical arm with the cartridge coupling of the second cartridge.
  • the cartridge coupling of the second cartridge may include a single cartridge coupling or is otherwise configured to be attached to a single surgical arm.
  • the surgical arm may be attached to the second cartridge by engaging the arm couplings with the cartridge couplings of the second cartridge.
  • the cartridge coupling of the second cartridge may include a plurality of cartridge couplings.
  • the surgical arm may be attached to the second cartridge by engaging the arm couplings with one, some, or all of the cartridge couplings of the second cartridge.
  • block 520 may include attaching one or more additional surgical arms to the second cartridge before, during, or after attaching the surgical arm to the second cartridge.
  • the block 520 may include attaching at least one cable to the surgical arm after attaching the surgical arm to the second cartridge which prevents the cable from interfering with the rest of block 520.
  • the method 500 may include additional blocks.
  • the method 500 may include assembling the robotic surgical system by one or more of providing a support structure (e.g., attaching a frame to a bed), attaching at least one cartridge to the support structure, providing an RCU, etc.
  • the method 500 may include inserting an elongated shaft of the surgical arm into a body of a patient and performing one or more surgical procedures using the elongated shaft.
  • Terms of degree indicate structurally or functionally insignificant variations.
  • the term of degree when the term of degree is included with a term indicating quantity, the term of degree is interpreted to mean ⁇ 10%, ⁇ 5%, or +2% of the term indicating quantity.
  • the term of degree when the term of degree is used to modify a shape, the term of degree indicates that the shape being modified by the term of degree has the appearance of the disclosed shape.
  • the term of degree may be used to indicate that the shape may have rounded corners instead of sharp corners, curved edges instead of straight edges, one or more protrusions extending therefrom, is oblong, is the same as the disclosed shape, etc.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Endoscopes (AREA)

Abstract

Un exemple de système chirurgical robotique comprend au moins un bras chirurgical. Le bras chirurgical comprend au moins un accouplement d'arbre allongé fixé ou pouvant être fixé à au moins une tige allongée. Le bras chirurgical comprend également au moins un accouplement de bras et au moins une entrée de câble. L'entrée de câble est configurée pour être fixée de manière réversible à au moins un câble et recevoir de l'énergie mécanique d'au moins un câble. Le système chirurgical robotique comprend également au moins une cartouche comprenant une pluralité d'accouplements de cartouche. Au moins l'un de la pluralité d'accouplements de cartouche peut venir en prise avec l'accouplement de bras pour fixer de manière réversible le bras chirurgical à la cartouche. Par exemple, lorsque le ou les bras chirurgicaux comprennent une pluralité de bras chirurgicaux, la pluralité d'accouplements de cartouche peut permettre à la pluralité de bras chirurgicaux d'être fixés à la cartouche.
PCT/IL2024/050192 2023-02-21 2024-02-20 Système chirurgical robotique, ses procédés d'utilisation et unité de commande robotique Ceased WO2024176225A1 (fr)

Priority Applications (2)

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IL322711A IL322711A (en) 2023-02-21 2024-02-20 Robotic surgical system, methods of use thereof and robotic control unit
AU2024224513A AU2024224513A1 (en) 2023-02-21 2024-02-20 Robotic surgical system, methods of using the same, and robotic control unit

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US202363486070P 2023-02-21 2023-02-21
US63/486,070 2023-02-21

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7955322B2 (en) * 2005-12-20 2011-06-07 Intuitive Surgical Operations, Inc. Wireless communication in a robotic surgical system
EP3677209A1 (fr) * 2010-05-14 2020-07-08 Intuitive Surgical Operations, Inc. Support de montage d'instrument de système chirurgical

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7955322B2 (en) * 2005-12-20 2011-06-07 Intuitive Surgical Operations, Inc. Wireless communication in a robotic surgical system
EP3677209A1 (fr) * 2010-05-14 2020-07-08 Intuitive Surgical Operations, Inc. Support de montage d'instrument de système chirurgical

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AU2024224513A1 (en) 2025-08-28

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