U.S. patent application number 16/152883 was filed with the patent office on 2019-04-11 for control of the rate of actuation of tool mechanism based on inherent parameters.
The applicant listed for this patent is Ethicon LLC. Invention is credited to Jason L. Harris, Mark D. Overmyer, Frederick E. Shelton, IV, Michael J. Vendely, David C. Yates.
Application Number | 20190105115 16/152883 |
Document ID | / |
Family ID | 59687043 |
Filed Date | 2019-04-11 |
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United States Patent
Application |
20190105115 |
Kind Code |
A1 |
Yates; David C. ; et
al. |
April 11, 2019 |
CONTROL OF THE RATE OF ACTUATION OF TOOL MECHANISM BASED ON
INHERENT PARAMETERS
Abstract
A robotic surgical system including a control system that
controls the movement of a robotic arm coupled to a tool assembly
having an end effector is described. The control system can also
assist with controlling either the articulation or rotation of the
end effector. Furthermore, the control system can detect and
monitor one or more properties (e.g., articulation, rotation,
etc.), which can be used by the control system to determine one or
more appropriate movement parameters of either the robotic arm
(e.g., velocity of movement) or the tool assembly coupled to the
robotic arm (e.g., rotational speed of the end effector). The
control system can detect any number of characteristics related to
the end effector and use such information to control a variety of
movement parameters associated with either the robotic arm or the
tool assembly.
Inventors: |
Yates; David C.; (West
Chester, OH) ; Shelton, IV; Frederick E.; (Hillsboro,
OH) ; Vendely; Michael J.; (Lebanon, OH) ;
Harris; Jason L.; (Lebanon, OH) ; Overmyer; Mark
D.; (Cincinnati, OH) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Ethicon LLC |
Guaynabo |
PR |
US |
|
|
Family ID: |
59687043 |
Appl. No.: |
16/152883 |
Filed: |
October 5, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
15237704 |
Aug 16, 2016 |
10111719 |
|
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16152883 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B25J 9/04 20130101; A61B
2034/743 20160201; A61B 34/30 20160201; Y10S 901/15 20130101; A61B
34/74 20160201; A61B 2034/302 20160201; A61B 2034/742 20160201;
Y10S 901/02 20130101; A61B 2034/305 20160201; A61B 34/37 20160201;
A61B 34/35 20160201; A61B 2034/741 20160201 |
International
Class: |
A61B 34/30 20060101
A61B034/30; A61B 34/37 20060101 A61B034/37; B25J 9/04 20060101
B25J009/04; A61B 34/00 20060101 A61B034/00 |
Claims
1.-11. (canceled)
12. A robotic surgical system, comprising: a robotic arm having a
proximal end configured to be coupled to a support and having a
driver at a distal end thereof, the driver including one or more
motors; a tool assembly operatively coupled to the robotic arm, the
tool assembly comprising a shaft having a longitudinal axis that is
operatively coupled to the driver to enable selective rotation of
the shaft; an end effector pivotally coupled to a distal end of the
shaft, the end effector being operatively coupled to the driver and
being configured to selectively pivot relative to the shaft, the
end effector having an operational window area within a region
circumscribed by a portion of the end effector as the shaft rotates
about the longitudinal axis; and a control system configured to
monitor the operational window area to control a velocity of
movement of the robotic arm such that the velocity of movement of
the robotic arm is controlled as a function of at least one of a
rotational speed of the shaft and the operational window area.
13. The robotic surgical system of claim 12, wherein the velocity
of movement of the robotic arm is inversely proportional to the
operational window area.
14. The robotic surgical system of claim 13, wherein the
relationship between the velocity of movement of the robotic arm
and the operational window area is one of a linear relationship and
a non-linear relationship.
15. The robotic surgical system of claim 12, wherein the control
system is configured to monitor a moment of inertia of the end
effector and velocity of movement of the robotic arm is controlled
as a function of the moment of inertia of the end effector, wherein
the moment of inertia of the end effector is defined by at least
one of a mass of the end effector, the rotational speed of the
shaft, and the articulation angle of the end effector.
16. The robotic surgical system of claim 15, wherein the velocity
of movement of the robotic arm is inversely proportional to the
moment of inertia of the end effector.
17. The robotic surgical system of claim 16, wherein the
relationship between the velocity of movement of the robotic arm
and the moment of inertia of the end effector is one of a linear
relationship and a non-linear relationship.
18. The robotic surgical system of claim 15, wherein the
articulation angle of the end effector is a distance between a
distal portion of the end effector and a longitudinal axis of the
shaft.
19. The robotic surgical system of claim 12, wherein the control
system is configured to set a maximum of the velocity of movement
based on a circumference of the operational window area.
20. The robotic surgical system of claim 12, wherein the control
system is configured to set a maximum of the velocity of movement
of the robotic arm for each of a plurality of predetermined
operational window areas.
21. The robotic surgical system of claim 15, wherein the control
system is configured to set a maximum of the velocity of movement
of the robotic arm for each of a plurality of predetermined moments
of inertia of the end effector.
22. A robotic surgical system, comprising: a robotic arm having a
proximal end configured to be coupled to a support and having a
driver at a distal end of the robotic arm, the robotic arm being
movable relative to the support; a tool assembly comprising a
housing configured to releasably couple to the driver, the housing
including an actuator that is actuated by a motor associated with
the driver; a shaft extending from the housing; and an end effector
pivotally coupled to a distal end of the shaft and configured to
selectively pivot relative to the shaft thereby defining at least
one window area, each of the at least one window area having a
radius that is equal to a distance between a distal end of the end
effector and a longitudinal axis of the shaft; and a control system
configured to control a velocity of movement of the robotic arm
such that the velocity of movement of the robotic arm decreases as
at least one of a rotational speed of the shaft and the at least
one window area increases.
23. A surgical method, comprising: manipulating a tool assembly
operatively coupled to a robotic arm, the tool assembly having a
rotatable shaft and an end effector operatively coupled to the
shaft and configured to articulate relative to the shaft;
monitoring an operational window area of the end effector wherein
the operational window area is a region circumscribed by a portion
of the end effector as the shaft rotates about the longitudinal
axis; and controlling a velocity of movement of the robotic arm
such that the velocity of movement of the robotic arm is controlled
as a function of at least one of a rotational speed of the shaft
and the operational window area.
24. The method of claim 23, wherein the first velocity of movement
of the robotic arm is inversely proportional to the first
operational window area.
25. The method of claim 23, wherein the relationship between the
first velocity of movement of the robotic arm and the first
operational window area is one of a linear relationship and a
non-linear relationship.
26. The method of claim 23, further comprising: setting a maximum
of the velocity of movement based on a circumference of the
operational window area.
27. The method of claim 23, further comprising: monitoring a moment
of inertia of the end effector, wherein the moment of inertia is
defined by at least one of a mass of the end effector, the
rotational speed of the shaft, and the articulation angle of the
end effector.
28. The method of claim 27, further comprising: controlling the
velocity of movement of the robotic arm as a function of the moment
of inertia of the end effector, wherein the moment of inertia of
the end effector.
29. The method of claim 23, further comprising: setting a maximum
of the velocity of movement of the robotic arm for each of a
plurality of predetermined moments of inertia of the end effector.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] The present application claims priority to U.S. patent
application Ser. No. 15/237,704 entitled "Control of the Rate of
Actuation of Tool Mechanism Based on Inherent Parameters" filed
Aug. 16, 2016, which is hereby incorporated in its entirety.
FIELD OF THE INVENTION
[0002] Methods and devices are provided for robotic surgery, and in
particular control system and methods for controlling movement of a
robotic tool based on a configuration or property of an end
effector of the robotic tool are provided.
BACKGROUND OF THE INVENTION
[0003] Minimally invasive surgical (MIS) instruments are often
preferred over traditional open surgical devices due to the reduced
post-operative recovery time and minimal scarring. Laparoscopic
surgery is one type of MIS procedure in which one or more small
incisions are formed in the abdomen and a trocar is inserted
through the incision to form a pathway that provides access to the
abdominal cavity. The trocar is used to introduce various
instruments and tools into the abdominal cavity, as well as to
provide insufflation to elevate the abdominal wall above the
organs. The instruments and tools can be used to engage and/or
treat tissue in a number of ways to achieve a diagnostic or
therapeutic effect. Endoscopic surgery is another type of MIS
procedure in which elongate flexible shafts are introduced into the
body through a natural orifice.
[0004] Although traditional minimally invasive surgical instruments
and techniques have proven highly effective, newer systems may
provide even further advantages. For example, traditional minimally
invasive surgical instruments often deny the surgeon the
flexibility of tool placement found in open surgery. Difficulty is
experienced in approaching the surgical site with the instruments
through the small incisions. Additionally, the added length of
typical endoscopic instruments often reduces the surgeon's ability
to feel forces exerted by tissues and organs on the end effector.
Furthermore, coordination of the movement of the end effector of
the instrument as viewed in the image on the television monitor
with actual end effector movement is particularly difficult, since
the movement as perceived in the image normally does not correspond
intuitively with the actual end effector movement. Accordingly,
lack of intuitive response to surgical instrument movement input is
often experienced. Such a lack of intuitiveness, dexterity and
sensitivity of endoscopic tools has been found to be an impediment
in the increased use of minimally invasive surgery.
[0005] Over the years a variety of minimally invasive robotic
systems have been developed to increase surgical dexterity as well
as to permit a surgeon to operate on a patient in an intuitive
manner. Telesurgery is a general term for surgical operations using
systems where the surgeon uses some form of remote control, e.g., a
servomechanism, or the like, to manipulate surgical instrument
movements, rather than directly holding and moving the tools by
hand. In such a telesurgery system, the surgeon is typically
provided with an image of the surgical site on a visual display at
a location remote from the patient. The surgeon can typically
perform the surgical procedure at the location remote from the
patient whilst viewing the end effector movement on the visual
display during the surgical procedure. While viewing typically a
three-dimensional image of the surgical site on the visual display,
the surgeon performs the surgical procedures on the patient by
manipulating master control devices at the remote location, which
master control devices control motion of the remotely controlled
instruments.
[0006] While significant advances have been made in the field of
robotic surgery, there remains a need for improved methods,
systems, and devices for use in robotic surgery.
SUMMARY OF THE INVENTION
[0007] Aspects of the current subject matter include a robotic
surgical system having a control system that can detect and monitor
a variety of configurations and properties (e.g., rotational speed,
etc.) associated with a part of a tool assembly (e.g., end
effector) for controlling a movement property (e.g., velocity) of
either a robotic arm of the surgical system or the tool assembly
coupled to the robotic arm.
[0008] In one aspect, a robotic surgical system is described that
includes a robotic arm having a proximal end configured to be
coupled to a support and having a driver at a distal end of the
robotic arm. The driver can include one or more motors. In
addition, the robotic surgical system can include a tool assembly
having a housing configured to releasably couple to the driver. The
housing can include a first actuator and a second actuator that are
each actuated by at least one of the one or more motors. The tool
assembly can further include a shaft extending distally from the
housing and operatively coupled to the first actuator such that
actuation of the first actuator causes the shaft to rotate. In
addition, the tool assembly can include an end effector pivotally
coupled to a distal end of the shaft. The end effector can be
configured to pivot upon actuation of the second actuator to form
an angle between a first longitudinal axis of the end effector and
a second longitudinal axis of the shaft. Additionally, the robotic
surgical system can include a control system configured to control,
based on the angle formed from a current positon of the end
effector, a velocity of movement of the robotic arm. The velocity
of movement can be related to the angle. In some implementations,
the control system can further control the velocity of movement of
the robotic arm based on a rotational velocity of the shaft where
the velocity of movement is related to the rotational velocity of
the shaft.
[0009] In another aspect, a robotic surgical system is described
that includes a robotic arm having a proximal end configured to be
coupled to a support and having a driver at a distal end of the
robotic arm. The robotic arm can be movable relative to the
support. In addition, the robotic surgical system can include a
tool assembly having a housing configured to releasably couple to
the driver. The housing can include an actuator that is actuated by
a motor associated with the driver. The tool assembly can further
include a shaft extending from the housing and an end effector
pivotally coupled to a distal end of the shaft and configured to
pivot in response to the actuator thereby defining at least one
window area. Each of the at least one window area can have a radius
that is equal to a distance between a distal end of the end
effector and a longitudinal axis of the shaft. Furthermore, the
robotic surgical system can include a control system configured to
control, based on the radius of a current position of the end
effector, a velocity of movement of the robotic arm. The velocity
of movement can be related to the radius. In some implementations,
the control system can further control the velocity of movement of
the robotic arm based on a moment of inertia of the end effector.
The velocity of movement can be related to the moment of inertia of
the end effector. In some implementations, the moment of inertia is
defined by one or more of a mass of the end effector, a speed of
rotation of the end effector, and the distance between the distal
end of the end effector and the longitudinal axis of the shaft.
[0010] In another interrelated aspect of the current subject
matter, a method includes determining a first articulation angle of
an end effector located at a distal end of a shaft of a tool
assembly, the tool assembly being coupled to a robotic arm of a
robotic surgical system. The method can further include setting,
based on the determined first articulation angle, a first maximum
velocity of movement of the robotic arm. In addition, the method
can include articulating the end effector and determining a second
articulation angle of the end effector where the second
articulation angle is larger than the first articulation angle. The
method can further include setting, based on the determined second
articulation angle, a second maximum velocity of movement of the
robotic arm, the second maximum velocity of movement being less
than the first maximum velocity of movement. In some
implementations, the first and second articulation angles can be
each defined by an angle formed between the end effector and a
longitudinal axis of the shaft. In some implementations, the method
includes rotating the end effector about a longitudinal axis of the
shaft and setting, based on the rotating of the end effector, a
third maximum velocity of movement of the robotic arm, with the
third maximum velocity of movement being less than the second
maximum velocity of movement.
[0011] Another method can include determining a first window area
defined by a distal end of an end effector rotated about a
longitudinal axis of a shaft of a tool assembly. The tool assembly
can be coupled to a robotic arm of a robotic surgical system. In
addition, the method can include setting, based on the determined
first window area, a first maximum velocity of movement of the
robotic arm. The method can further include articulating the end
effector and determining a second window area defined by the distal
end of the end effector rotated about a longitudinal axis of the
shaft, with the second window area being larger than the first
window area. Furthermore, the method can include setting, based on
the determined second window area, a second maximum velocity of
movement of the robotic arm, the second maximum velocity of
movement being less than the first maximum velocity of
movement.
[0012] Yet another method can include determining a first moment of
inertia of an end effector located at a distal end of a shaft of a
tool assembly, with the tool assembly being coupled to a robotic
arm of a robotic surgical system. In addition, the method can
include setting, based on the determined first moment of inertia, a
first maximum velocity of movement of the robotic arm.
Additionally, the method can include increasing at least one of a
rotational speed of the end effector and an articulation angle of
the end effector. The method can further include determining a
second moment of inertia of the end effector, the second moment of
inertia being larger than the first moment of inertia. Furthermore,
the method can include setting, based on the determined second
moment of inertia, a second maximum velocity of movement of the
robotic arm, the second maximum velocity of movement being less
than the first maximum velocity of movement. In some
implementations, the moment of inertia is defined by one or more of
a mass of the end effector, a speed of rotation of the end
effector, and the articulation angle of the end effector
[0013] The details of one or more variations of the subject matter
described herein are set forth in the accompanying drawings and the
description below. Other features and advantages of the subject
matter described herein will be apparent from the description and
drawings, and from the claims.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The invention will be more fully understood from the
following detailed description taken in conjunction with the
accompanying drawings, in which:
[0015] FIG. 1 illustrates a perspective view of an embodiment of a
surgical obotic system that includes a patient-side portion and a
user-side portion.
[0016] FIG. 2 illustrates an embodiment of a robotic arm of the
surgical robotic system of FIG. 1 with a tool assembly releasably
coupled to the robotic arm.
[0017] FIG. 3 illustrates an embodiment of a tool driver of the
robotic arm of FIG. 2.
[0018] FIG. 4 illustrates the tool assembly of FIG. 2 uncoupled
from the robotic arm, the tool assembly including a shaft extending
from a puck at a proximal end and having an end effector located at
a distal end of the shaft.
[0019] FIG. 5 illustrates an embodiment f the puck of the tool
assembly of FIG. 4.
[0020] FIG. 6 illustrates an embodiment of an actuation assembly of
the puck of FIG. 5.
[0021] FIG. 7 illustrates an embodiment of actuation shafts
extending from a wrist located just proximal of the end effector of
FIG. 4.
[0022] FIG. 8 illustrates a portion of the end effector of FIG.
7.
[0023] FIG. 9A illustrates another embodiment of end effector shown
articulated at a first angle relative to a longitudinal axis of the
shaft.
[0024] FIG. 9B illustrates the end effector of FIG. 9A shown
articulated at a second angle relative to the longitudinal axis of
the shaft.
[0025] FIG. 10A illustrates a first graph showing a decrease in
velocity of movement of a robotic arm as the articulation of the
end effector increases.
[0026] FIG. 10B illustrates a second graph showing a decrease in a
maximum allowable velocity of movement of the robotic arm as a
footprint of the end effector increases, where the footprint can
include at least one of an articulation of the end effector and a
shaft rotation.
[0027] FIG. 11 illustrates a third graph that shows an example of
the differences in velocity thresholds of shaft movements at
various articulation angles of the end effector while rotating
about the shaft over time.
[0028] FIG. 12 illustrates a fourth graph that shows an example of
the differences in velocity thresholds of shaft advancement (or
movement) based on one or more factors associated with the end
effector over time.
[0029] FIGS. 13A and 13B are fifth and sixth graphs, respectively,
illustrating an example of the control system affecting the
velocity thresholds based on the moment of inertia of the end
effector.
[0030] FIG. 14 illustrates movement and rotation along one of the
three axes in a Cartesian frame.
[0031] FIG. 15 illustrates an exemplary embodiment of a computer
system.
DETAILED DESCRIPTION OF THE INVENTION
[0032] Certain exemplary embodiments will now be described to
provide an overall understanding of the principles of the
structure, function, manufacture, and use of the devices and
methods disclosed herein. One or more examples of these embodiments
are illustrated in the accompanying drawings. Those skilled in the
art will understand that the devices and methods specifically
described herein and illustrated in the accompanying drawings are
non-limiting exemplary embodiments and that the scope of the
present invention is defined solely by the claims. The features
illustrated or described in connection with one exemplary
embodiment may be combined with the features of other embodiments.
Such modifications and variations are intended to be included
within the scope of the present invention.
[0033] Further, in the present disclosure, like-named components of
the embodiments generally have similar features, and thus within a
particular embodiment each feature of each like-named component is
not necessarily fully elaborated upon. Additionally, to the extent
that linear or circular dimensions are used in the description of
the disclosed systems, devices, and methods, such dimensions are
not intended to limit the types of shapes that can be used in
conjunction with such systems, devices, and methods. A person
skilled in the art will recognize that an equivalent to such linear
and circular dimensions can easily be determined for any geometric
shape. Sizes and shapes of the systems and devices, and the
components thereof, can depend at least on the anatomy of the
subject in which the systems and devices will be used, the size and
shape of components with which the systems and devices will be
used, and the methods and procedures in which the systems and
devices will be used.
[0034] In general, a control system of a surgical robotic system is
described that can assist with performing surgical procedures on a
patient. Such procedures can require the robotic surgical system to
move a surgical arm and manipulate a tool assembly coupled to the
robotic arm. For example, a tool assembly can include an end
effector positioned at a distal end of a shaft. The end effector
can be articulated and rotated about the shaft in order to reach
and manipulate tissue at a surgical site. In addition, the robotic
arm can assist with moving and positioning the tool assembly
relative to the surgical site. Such movements made by the tool
assembly and/or robotic arm can result in damage to either the tool
assembly or patient if the wrong move is made or a move is made too
quickly. Furthermore, such damage can be increased depending on a
configuration or property of the tool assembly. For example, if
caused to rotate about the shaft, an end effector having a large
articulation angle relative to the shaft can potentially cause more
tissue damage to a patient compared to an end effector that is
straight. As such, in order to reduce the occurrence and severity
of tissue damage to a patient, the control system controls at least
one movement property (e.g., a velocity threshold, a movement
velocity, etc.) of the robotic surgical system and tool assembly
based on at least one property associated with the end effector
(e.g., articulation, rotation, etc.). The control system can
determine and monitor any number of configurations and inherent
properties associated with the robotic surgical system and/or tool
assembly (e.g., end effector), which can be used by the control
system to determine one or more appropriate movement properties
(e.g., rotation, velocity, etc.) associated with the robotic
surgical system and/or tool assembly, as will be discussed in
greater detail below. Furthermore, such control by the control
system can allow the robotic system to move in smooth and/or
predictable ways, which can emulate natural motion of human control
and provide safety features that, for example, reduce tool assembly
and/or robotic arm collisions.
[0035] As indicated above, in one embodiment the systems, devices,
and methods disclosed herein can be implemented using a robotic
surgical system. As will be appreciated by a person skilled in the
art, electronic communication between various components of a
robotic surgical system can be wired or wireless. A person skilled
in the art will also appreciate that all electronic communication
in the system can be wired, all electronic communication in the
system can be wireless, or some portions of the system can be in
wired communication and other portions of the system can be in
wireless communication.
[0036] FIG. 1 is a perspective view of one embodiment of a surgical
robotic system 300 that includes a patient-side portion 310 that is
positioned adjacent to a patient 312, and a user-side portion 311
that is located a distance from the patient, either in the same
room and/or in a remote location. The patient-side portion 310
generally includes one or more robotic arms 320 and one or more
tool assemblies 330 that are configured to releasably couple to a
robotic arm 320. The user-side portion 311 generally includes a
vision system 313 for viewing the patient 312 and/or surgical site,
and a control system 315 for controlling the movement of the
robotic arms 320 and each tool assembly 330 during a surgical
procedure.
[0037] The control system 315 can have a variety of configurations
and it can be located adjacent to the patient, e.g., in the
operating room, remote from the patient, e.g., in a separate
control room, or it can be distributed at two or more locations.
For example, a dedicated system control console can be located in
the operating room, and a separate console can be located in a
remote location. The control system 315 can include components that
enable a user to view a surgical site of a patient 312 being
operated on by the patient-side portion 310 and/or to control one
or more parts of the patient-side portion 310 (e.g., to perform a
surgical procedure at the surgical site 312). In some embodiments,
the control system 315 can also include one or more
manually-operated input devices, such as a joystick, exoskeletal
glove, a powered and gravity-compensated manipulator, or the like.
These input devices can control teleoperated motors which, in turn,
control the movement of the surgical system, including the robotic
arms 320 and tool assemblies 330.
[0038] The patient-side portion can also have a variety of
configurations. As depicted in FIG. 1, the patient-side portion 310
can couple to an operating table 314. However, in some embodiments,
the patient-side portion 310 can be mounted to a wall, to the
ceiling, to the floor, or to other operating room equipment.
Further, while the patient-side portion 310 is shown as including
two robotic arms 320, more or fewer robotic arms 320 may be
included. Furthermore, the patient-side portion 310 can include
separate robotic arms 320 mounted in various positions, such as
relative to the surgical table 314 (as shown in FIG. 1).
Alternatively, the patient-side portion 310 can include a single
assembly that includes one or more robotic arms 320 extending
therefrom.
[0039] FIG. 2 illustrates one embodiment of a robotic arm 420 and a
tool assembly 430 releasably coupled to the robotic arm 420. The
robotic arm 420 can support and move the associated tool assembly
430 along one or more mechanical degrees of freedom (e.g., all six
Cartesian degrees of freedom, five or fewer Cartesian degrees of
freedom, etc.).
[0040] The robotic arm 420 can include a tool driver 440 at a
distal end of the robotic arm 420, which can assist with
controlling features associated with the tool assembly 430. The
robotic arm 420 can also include an entry guide 432 (e.g., a
cannula mount or cannula) that can be a part of or removably
coupled to the robotic arm 420, as shown in FIG. 2. A shaft 436 of
the tool assembly 430 can be inserted through the entry guide 430
for insertion into a patient.
[0041] In order to provide a sterile operation area while using the
surgical system, a barrier 434 can be placed between the actuating
portion of the surgical system (e.g., the robotic arm 420) and the
surgical instruments (e.g., the tool assembly 430). A sterile
component, such as an instrument sterile adapter (ISA), can also be
placed at the connecting interface between the tool assembly 430
and the robotic arm 420. The placement of an ISA between the tool
assembly 430 and the robotic arm 420 can ensure a sterile coupling
point for the tool assembly 430 and the robotic arm 420. This
permits removal of tool assemblies 430 from the robotic arm 420 to
exchange with other tool assemblies 430 during the course of a
surgery without compromising the sterile surgical field.
[0042] FIG. 3 illustrates the tool driver 440 in more detail. As
shown, the tool driver 440 includes one or more motors, e.g., five
motors 442 are shown, that control a variety of movements and
actions associated with the tool assembly 430, as will be described
in greater detail below. For example, each motor 442 can couple to
and/or interact with an activation feature (e.g., gear) associated
with the tool assembly 430 for controlling one or more actions and
movements that can be performed by the tool assembly 430, such as
for assisting with performing a surgical operation. The motors 442
are accessible on the upper surface of the tool driver 440, and
thus the tool assembly is configured to mount on top of the tool
driver 440 to couple thereto. The tool driver 440 also includes a
shaft-receiving channel 444 formed in a sidewall thereof for
receiving the shaft of the tool assembly 430. In other embodiments,
the shaft can extend through on opening in the tool driver 440, or
the two components can mate in various other configurations.
[0043] FIG. 4 illustrates the tool assembly 430 uncoupled from the
robotic arm 420. The tool assembly 430 includes a housing or puck
435 coupled to a proximal end of a shaft 436 and an end effector
438 coupled to a distal end of the shaft 436. The end effector can
include a pair of jaws, such as a second jaw that pivots relative
to a first jaw. The second jaw can pivot between a closed position
where the pair of jaws are configured to engage tissue therebetween
and an open position where the pair of jaws are configured to
receive tissue therebetween. A cartridge that holds staples can be
disposed within the first jaw and one or more staples can be
delivered to a surgical site upon firing of the end effector to
staple tissue engaged therebetween. The puck 435 can include
coupling features that assist with releasably coupling the puck 435
to the tool driver 440 of the robotic arm 420. The puck 435 can
include gears and/or actuators that can be actuated by the one or
more motors 442 in the driver 440, as will be described in greater
detail below. The gears and/or actuators in the puck 435 can
control the operation of various features associated with the end
effector 438 (e.g., clamping, firing, rotation, articulation,
energy delivery, etc.), as well as control the movement of the
shaft 436 (e.g., rotation of the shaft).
[0044] The shaft 436 can be fixed to the puck 435, or it can be
releasably coupled to the puck 435 such that the shaft 436 can be
interchangeable with other shafts. This can allow a single puck 435
to be adaptable to various shafts 436 having different end
effectors 438. The shaft 436 can include actuators and connectors
that extend along the shaft and assist with controlling the
actuation and/or movement of the end effector 438 and/or shaft 436.
The shaft 436 can also include one or more joints or wrists 437
that allow a part of the shaft 436 or the end effector 438 to
articulate relative to the longitudinal axis of the shaft 436. This
can allow for fine movements and various angulation of the end
effector 438 relative to the longitudinal axis of the shaft 436.
The end effector 438 can include any of a variety of surgical
tools, such as a stapler, a clip applier, forceps, a needle driver,
a cautery device, a cutting tool, a pair of jaws, an imaging device
(e.g., an endoscope or ultrasound probe), or a combined device that
includes a combination of two or more various tools.
[0045] FIG. 5 illustrates the puck 435 and a proximal end of a
shaft 436 extending from the puck 435 in more detail. As shown in
FIG. 5, the puck 435 includes a plurality of actuation gears and
gear shafts that can be either directly or indirectly controlled to
any one of the motors 442 associated with the driver 440. For
example, as shown in FIG. 5, the puck 435 is configured to couple
to five motors at the locations indicated by reference numbers M1,
M2, M3, M4, and M5. In this embodiment, puck 435 includes first and
second articulation gears G1, G2 that are coupled respectively to
the first and second motors M1, M2 via a series of one or more
additional gears and shafts. Actuation of the first and second
motors M1, M2 will rotate the articulation gears G1, G2, which in
turn cause linear movement of an articulation cable in a proximal
or distal direction to thereby cause articulation of the end
effector 438 in desired left and right directions. The puck 435
also includes a shaft rotation gear G3a that is coupled to the
third motor M3 via a series of one or more additional gears and
shafts. Actuation of the third motor M3 will thus rotate the shaft
rotation gear G3a thereby causing rotation of the shaft 436 of the
tool assembly 430. The third motor M3 can also be configured to
shift and to couple, via a series of one or more additional gears
and shafts, to a head rotation gear G3b which will cause rotation
of the end effector 438 relative to the shaft 436. The puck 435
further includes a firm close gear G4a that is coupled to the
fourth motor M4 via a series of one or more additional gears and
shafts. Actuation of the fourth motor M4 will rotate the firm close
gear G4a to cause linear translation of a drive screw to firmly
close the jaws of the end effector 438. The puck 435 further
includes a quick close gear G4b that can also couple to the fourth
motor M4 via a series of one or more additional gears and shafts.
When motor M4 is shifted into engagement with the quick close gear
G4b, actuation of the fourth motor M4 will rotate the quick close
gear G4b to cause linear translation of a quick close cable to
quickly close the jaws of the end effector 438. Finally, the
illustrated puck 435 includes a firing gear G5 that is coupled to
the fifth motor M5 via a series of one or more additional gears and
shafts. Actuation of the fifth motor M5 will rotate the firing gear
G5, thereby driving a lead screw linearly to advance a sled through
the end effector 438, as will be discussed in more detail
below.
[0046] FIG. 6 illustrates the actuation assembly 870 components of
the puck 435 of FIG. 5. As shown and indicated above, each of the
gears G1-G5 is coupled to an actuation shaft that extends from the
actuation assembly 870 and along the shaft 436 of the tool assembly
430, such as for controlling the movements of the end effector.
FIG. 7 illustrates a distal end of the actuation shafts extending
from a wrist 980 located just proximal of the end effector 438. The
wrist 980 can allow for fine movements and angulation of the end
effector 438 relative to the proximal end of the shaft 436. As
shown in FIG. 7, the wrist 980 includes four articulation cables
982 that are spaced around a perimeter of the wrist 980. When
actuated (e.g., pushed, pulled, rotated), the articulation cables
982 will cause articulation of the end effector 438 (e.g., movement
up, down, left, right, and combinations thereof) relative to the
proximal end of the shaft 436. The articulation cables 982 are
connected to the articulation couplers 839, shown in FIG. 6, that
are driven proximally and distally when the articulation gears G1,
G2 are actuated by the first and second motors M1, M2. The wrist
980 also includes an upper rotary driver 984 that when actuated can
cause the pair of jaws of the end effector 438 to firmly close. The
upper rotary driver 984 is coupled to the firm close gear G4a shown
in FIG. 6 such that rotation of the firm close gear G4a by the
motor M4 causes rotation of the rotary driver 984. The wrist 980
can also include a lower rotary driver 986 that when actuated can
cause movement of a sled located at the end effector 438. The lower
rotary driver 986 is coupled to the firing gear G5 shown in FIG. 6
and it likewise rotates in response to rotation of the firing gear
G5. The illustrated wrist 980 further includes a linear pull cable
988 that is coupled to the quick close gear G4b shown in FIG. 6 and
that moves linearly in a proximal direction to cause rapid close of
the pair of jaws.
[0047] FIG. 8 illustrates a portion of an end effector 1038 having
a knife actuation assembly 1080 that includes a drive member 1082,
a knife 1084, a knife sled 1086, and a lead screw or rotary driver
986. The drive member 1082 includes internal threads that are
threadably coupled with the rotary driver 986. Such coupling can
allow drive member 1082 to move along the rotary driver 986 when
the rotary driver 986 is rotated. As discussed above, the rotary
driver 986 can be actuated at the wrist 980, as shown in FIG. 7,
thereby causing rotation of the rotary driver 986 and linear
movement of the knife sled 1086 along the rotary driver 986. The
rotary driver 986 is coupled to the firing gear G5 shown in FIG. 6.
The knife actuation assembly 1080 is configured to orient the knife
1084 in a cutting position when the drive member 1082 pushes the
knife sled 1086 along the rotary driver 986 and to stow the knife
1084 when the drive member 1082 is moved proximally relative to the
knife sled 1086. In operation, the rotary driver 986 is first
rotated to advance the drive member 1082 distally along the rotary
driver 986 thereby pushing the knife sled 1086 in the distal
direction and angularly orienting the knife 1084 in the cutting
position. At the end of the distal movement of the assembly 1080,
the direction of rotation of the rotary driver 986 is reversed to
retract the drive member 1082 proximally relative to the knife sled
1086, thereby causing the knife 1084 to rotate down into the stowed
position, such as via interaction between an interface feature 1092
and the knife 1084.
[0048] As discussed above, the end effector can be articulated and
rotated about the shaft in order to reach and manipulate tissue at
a surgical site. In addition, the robotic arm can assist with
moving and positioning the tool assembly relative to the surgical
site. Such movements made by the tool assembly and/or robotic arm
can result in damage to either the tool assembly or patient if the
wrong move is made or a move is made too quickly. Furthermore, such
damage or potential damage can be increased depending on a
configuration or property of the tool assembly. For example, if
caused to rotate about the shaft, an end effector having a large
articulation angle relative to the shaft can cause more tissue
damage to a patient compared to an end effector that is straight.
This can be due to the fact that at a larger articulation angle,
more area can be affected as the end effector is rotated about the
shaft compared to when the end effector is straight or in-line with
the shaft. As such, in order to reduce the occurrence and severity
of tissue damage to a patient, at least one inherent property, such
as one or more movement properties (e.g., rotation, velocity, etc.)
of the robotic surgical system and tool assembly, is controlled
based on the configuration of the tooling assembly (e.g.,
articulation of the end effector).
[0049] FIGS. 9A and 9B illustrate an end effector 2038 articulating
about a wrist 2080 of a shaft 2036 and rotating about a
longitudinal axis 2037 of the shaft 2036. As shown in FIG. 9A, the
end effector 2038 can articulate and form a first articulation
angle 2039a. As referred to herein, an articulation angle 2039 can
be defined as the angle formed between the end effector 2038 (or
longitudinal axis of the end effector) and the longitudinal axis
2037 of the shaft 2036. The end effector 2038 can form any number
of articulation angles 2039, including a ninety degree articulation
angle, as shown in FIG. 9B. The end effector can also be straight
or in-line with the longitudinal axis 2037 of the shaft 2036.
[0050] The end effector 2038 can rotate about the shaft 2036 (or
longitudinal axis 2037 of the shaft) and can do so at a variety of
speeds. Such articulation and rotation of the end effector 2038 can
be controlled by one or more control features of the robotic
surgical system, any one of which can be controlled by a user. As
such, the end effector 2038 can articulate to form a variety of
articulation angles and can rotate at a variety of speeds.
[0051] The robotic surgical system can include a control system
(such as the control system 315 shown in FIG. 1) that includes one
or more control features that can control movement (e.g.,
advancement, positioning, etc.) of a robotic arm (such as the
robotic arm 320 in FIG. 1). A tool assembly having the end effector
at its distal end can be coupled to the robotic arm (see, for
example, tool assembly 430 coupled to the robotic arm 420 in FIG.
2). The control system can also assist with controlling either the
articulation or rotation of the end effector 2038. Furthermore, the
control system can detect one or more properties associated with
the end effector 2038 (e.g., articulation angle, rotation, etc.),
which can be used by the control system to determine one or more
appropriate movement parameters of either the robotic arm (e.g.,
velocity of movement) or the tool assembly coupled to the robotic
arm (e.g., rotational speed of the end effector 2038). The control
system can detect any number of characteristics related to the end
effector 2038 and use such information to control a variety of
movement parameters associated with either the robotic arm or the
tool assembly, as will be discussed in greater detail below.
[0052] For example, as also shown in FIGS. 9A and 9B, the control
system can determine and monitor an affected window area 2100
created by the articulated end effector 2038. The window area 2100
can be defined by the distal end of the end effector 2038 rotating
about the longitudinal axis 2037 of the shaft, thereby defining a
circumference 2110 of the window area 2100. The greater the
articulation angle 2039 of the end effector 2038, the greater the
circumference 2110 and window area 2100. The window area 2100 can
define an area where the end effector 2038 has the potential to
interact with an object, such as tissue of a patient. As such, the
greater the articulation angle of the end effector 2038, the
greater area of potential interaction and possible greater damage
that can be created by the end effector 2038 when moving (e.g.,
translating, rotating). As such, it can be beneficial for the
control system to determine and monitor the window area 2100
created by the configuration of the end effector in order to set
and control movements of the robotic arm and tool assembly.
Although the window area 2100 is described herein as being defined
by the distal end of the end effector 2038 rotating about the
longitudinal axis 2037 of the shaft thereby defining a
circumference 2110 of the window area 2100, any number of points
along the end effector 2038 can be used to define the circumference
2110 of the window area 2100 without departing from the scope of
this disclosure.
[0053] FIG. 10A illustrates a first graph 2200 showing the velocity
of movements of the robotic arm being reduced by the control system
as the window area 2100 formed by the end effector 2038 increases.
For example, as shown in FIG. 10A, when the end effector 2038 is
straight, the velocity of movement of the robotic arm is greatest.
As the window area 2100 increases as a result of the articulation
angle of the end effector increasing, the control system decreases
the velocity of movement of the robotic arm. As the window area
2100 decreases as a result of the articulation angle of the end
effector decreasing, the control system increases the velocity of
movement of the robotic arm. Such changes in the velocity of
movement (e.g., increase or decrease) can thus be related to the
window area formed by the end effector and such relationship can be
linear (e.g., inversely proportional) or nonlinear. In some
implementations, the control system sets a threshold or maximum
velocity that the robotic arm can move based on the articulation
angle 2039 or window area 2100 of the end effector 2038. As such,
the control system can either set a maximum velocity or directly
control the velocity based on the articulation angle 2039 or window
area 2100 of the end effector.
[0054] FIG. 10B illustrates a second graph 2210 showing the control
system increasing the maximum velocity (or velocity threshold) as a
footprint area decreases. The footprint area can be similar to the
window area 2100 in that it can include an area defined by the
articulation of the end effector 2038. However, the footprint area
can also include the rotational speed of the end effector 2038. Due
to the potential damage that can be made within the window area
2100 and the footprint area, the control system sets the velocity
of movement of the associated robotic arm such that as either the
window area 2100 or the rotational speed of the end effector (i.e.,
a factor of the footprint area) increase, the velocity or maximum
allowable velocity is decreased. This can at least reduce the
extent of damage created by the end effector if the end effector is
moved in an undesired area. In addition, as either the window area
2100 or the rotational speed of the end effector (i.e., a factor of
the footprint area) decrease, the velocity or maximum allowable
velocity is increased. Such changes in the maximum allowable
velocity of movement (e.g., increase or decrease) can thus be
related to the footprint area defined by the end effector and such
relationship can be linear or nonlinear.
[0055] FIG. 11 shows a third graph 2300 that illustrates an example
of the differences in velocity thresholds of shaft 2036 movements
(e.g., as a result of robotic arm movements) at various
articulation angles 2039 of the end effector 2038 while rotating
about the shaft 2036 over time. As shown in FIG. 11, the velocity
or threshold velocity of shaft advancement (or movement) is reduced
as the end effector articulates from straight to a 45 degree angle,
and then further reduced when the end effector 2038 articulates to
a 90 degree angle. Additionally, the velocity or threshold velocity
of shaft advancement (or movement) is increased as the end effector
articulates from a 90 degree angle to a 45 degree angle, and then
further increased when the end effector 2038 articulates to being
straight. Such changes in the velocity or threshold velocity of
shaft movement (e.g., increase or decrease) can thus be related to
the articulation angle of the end effector and such relationship
can be linear or nonlinear. The end effector 2038 can rotate at
various speeds while either straight or forming an angle relative
to the shaft 2036.
[0056] FIG. 12 shows a fourth graph 2400 that illustrates an
example of the differences in velocity thresholds of shaft
advancement (or movement) based on one or more factors associated
with the end effector 2038 over time. As shown in FIG. 12, the
velocity or threshold velocity of movement of the shaft 2036 is
reduced as the end effector 2038 moves from having a straight
configuration to being articulated. As also shown in FIG. 12, the
velocity or threshold velocity of movement of the shaft 2036 is
further reduced as the end effector 2038 rotates in the articulated
configuration. As such, the control system can determine and
monitor both the articulation and rotation of the end effector 2038
to set the velocity or velocity threshold of movement of the
robotic arm and shaft 2036. Furthermore, the control system can set
the velocity or velocity threshold to be lower either as the
articulation angle 2039 of the end effector 2038 increases or when
the end effector 2038 rotates.
[0057] The control system can determine and monitor any number of
properties related to the robotic surgical system and/or the tool
assembly for setting and/or controlling any number of parameter,
such as velocity and velocity thresholds. In some implementations,
the control system can control the velocity threshold for speed
adjustments and overall stop motion based on one or more properties
associated with the end effector 2038. For example, the control
system can determine and monitor the moment of inertia of the end
effector 2038 to control the velocity threshold and a stop motion.
Such control or changes in the velocity threshold and stop motion
can thus be related to the moment of inertia of the end effector
and such relationship can be linear or nonlinear. The moment of
inertia can be defined to include one or more of the mass of the
end effector 2038, a rotational speed of the end effector 2038, and
a geometry of the end effector 2038 (e.g., the articulation angle
2039 of the end effector 2038). The geometry of the end effector
2038 can include the articulation angle 2039 of the end effector
2038 and/or the distance between the distal end of the end effector
2038 and the longitudinal axis 2037 of the shaft 2036. Furthermore,
the moment of inertia can be determined relative to one or more
axis about which the end effector is to rotate about. The stop
motion can be defined as the amount of time required for the end
effector to come to a complete stop based on one or more properties
associated with the end effector 2038, such as the current travel
speed, rotational speed, moment of inertia, etc. The control system
can decrease the velocity threshold as the moment of inertia
increases. This can ensure that the end effector stops at a desired
location or within a desired distance.
[0058] FIGS. 13A and 13B are fifth and sixth graphs, respectively,
illustrating an example of the control system affecting the
velocity thresholds based on the moment of inertia of the end
effector 2038. In the fifth graph 2500 shown in FIG. 13A, a
velocity threshold of the motor controlling movement of the robotic
arm is shown as being less for an end effector having a greater
moment of inertia (e.g., a heavier end effector) compared to an end
effector having a smaller moment of inertia. Furthermore, when the
motors are turned off (at first line 2510), the velocity of the
motor drops to zero almost immediately. However, as shown in the
sixth graph 2550 of FIG. 13B, the greater the moment of inertia of
the end effector, the lower the rate of change in velocity (as
shown by the rate at which the velocity decreases to zero, at line
two 2520, after the motor is turned off, at first line 2510). As
such, the control system sets a velocity threshold that considers
the rate at which the end effector 2038 will decrease in velocity
from the threshold velocity to a complete stop. This can ensure
that the end effector 2038 is positioned in a desired resting
location and does not cause damage to either tissue of a patient or
the end effector, such as by overshooting the desired resting
location. Although the moment of inertia is described as being
related to the end effector, the control system can control the
velocity threshold of any part of either the robotic surgical
system or tool assembly based on the weight or moment of inertia of
any one or more parts of the either the robotic surgical system or
tool assembly without departing from the scope of this
disclosure.
[0059] There are a number of ways in which to describe the movement
of a surgical system, as well as its position and orientation in
space. One particularly convenient convention is to characterize a
system in terms of its degrees of freedom. The degrees of freedom
of a system are the number of independent variables that uniquely
identify its pose or configuration. The set of Cartesian degrees of
freedom is usually represented by the three translational or
position variables, e.g., surge, heave, and sway, and by the three
rotational or orientation variables, e.g., Euler angles or roll,
pitch, and yaw, that describe the position and orientation of a
component of a surgical system with respect to a given reference
Cartesian frame. As used herein, and as illustrated in FIG. 14, the
term "surge" refers to forward and backward movement, the term
"heave" refers to movement up and down, and the term "sway" refers
to movement left and right. With regard to the rotational terms,
"roll" refers to tilting side to side, "pitch" refers to tilting
forward and backward, and "yaw" refers to turning left and right.
In a more general sense, each of the translation terms refers to
movement along one of the three axes in a Cartesian frame, and each
of the rotational terms refers to rotation about one of the three
axes in a Cartesian frame.
[0060] Although the number of degrees of freedom is at most six, a
condition in which all the translational and orientation variables
are independently controlled, the number of joint degrees of
freedom is generally the result of design choices that involve
considerations of the complexity of the mechanism and the task
specifications. For non-redundant kinematic chains, the number of
independently controlled joints is equal to the degree of mobility
for an end effector. For redundant kinematic chains, the end
effector will have an equal number of degrees of freedom in
Cartesian space that will correspond to a combination of
translational and rotational motions. Accordingly, the number of
degrees of freedom can be more than, equal to, or less than
six.
[0061] With regard to characterizing the position of various
components of the surgical system and the mechanical frame, the
terms "forward" and "rearward" may be used. In general, the term
"forward" refers to an end of the surgical system that is closest
to the distal end of the input tool, and when in use in a surgical
procedure, to the end disposed within a patient's body. The term
"rearward" refers to an end of the surgical system farthest from
the distal end of the input tool, and when in use, generally to the
end farther from the patient.
[0062] The terminology used herein is not intended to limit the
invention. For example, spatially relative terms, e.g., "superior,"
"inferior," "beneath," "below," "lower," "above," "upper,"
"rearward," "forward," etc., may be used to describe one element's
or feature's relationship to another element or feature as
illustrated in the figures. These spatially relative terms are
intended to encompass different positions and orientations of the
device in use or operation in addition to the position and
orientation shown in the figures. For example, if the device in the
figures is turned over, elements described as "inferior to" or
"below" other elements or features would then be "superior to" or
"above" the other elements or features. Likewise, descriptions of
movement along and around various axes include various special
device positions and orientations. As will be appreciated by those
skilled in the art, specification of the presence of stated
features, steps, operations, elements, and/or components does not
preclude the presence or addition of one or more other features,
steps, operations, elements, components, and/or groups described
herein. In addition, components described as coupled may be
directly coupled, or they may be indirectly coupled via one or more
intermediate components.
[0063] There are several general aspects that apply to the various
descriptions below. For example, at least one surgical end effector
is shown and described in various figures. An end effector is the
part of a surgical instrument or assembly that performs a specific
surgical function, e.g., forceps/graspers, needle drivers,
scissors, electrocautery hooks, staplers, clip appliers/removers,
suction tools, irrigation tools, etc. Any end effector can be
utilized with the surgical systems described herein. Further, in
exemplary embodiments, an end effector can be configured to be
manipulated by a user input tool. The input tool can be any tool
that allows successful manipulation of the end effector, whether it
be a tool similar in shape and style to the end effector, such as
an input tool of scissors similar to end effector scissors, or a
tool that is different in shape and style to the end effector, such
as an input tool of a glove dissimilar to end effector graspers,
and such as an input tool of a joystick dissimilar to end effector
graspers. In some embodiments, the input tool can be a larger
scaled version of the end effector to facilitate ease of use. Such
a larger scale input tool can have finger loops or grips of a size
suitable for a user to hold. However, the end effector and the
input tool can have any relative size.
[0064] A slave tool, e.g., a surgical instrument, of the surgical
system can be positioned inside a patient's body cavity through an
access point in a tissue surface for minimally invasive surgical
procedures. Typically, cannulas such as trocars are used to provide
a pathway through a tissue surface and/or to prevent a surgical
instrument or guide tube from rubbing on patient tissue. Cannulas
can be used for both incisions and natural orifices. Some surgical
procedures require insufflation, and the cannula can include one or
more seals to prevent excess insufflation gas leakage past the
instrument or guide tube. In some embodiments, the cannula can have
a housing coupled thereto with two or more sealed ports for
receiving various types of instruments besides the slave assembly.
As will be appreciated by a person skilled in the art, any of the
surgical system components disclosed herein can have a functional
seal disposed thereon, therein, and/or therearound to prevent
and/or reduce insufflation leakage while any portion of the
surgical system is disposed through a surgical access port, such as
a cannula. The surgical systems can also be used in open surgical
procedures. As used herein, a surgical access point is a point at
which the slave tool enters a body cavity through a tissue surface,
whether through a cannula in a minimally invasive procedure or
through an incision in an open procedure.
[0065] The systems, devices, and methods disclosed herein can be
implemented using one or more computer systems, which may also be
referred to herein as digital data processing systems and
programmable systems.
[0066] One or more aspects or features of the subject matter
described herein can be realized in digital electronic circuitry,
integrated circuitry, specially designed application specific
integrated circuits (ASICs), field programmable gate arrays (FPGAs)
computer hardware, firmware, software, and/or combinations thereof.
These various aspects or features can include implementation in one
or more computer programs that are executable and/or interpretable
on a programmable system including at least one programmable
processor, which can be special or general purpose, coupled to
receive data and instructions from, and to transmit data and
instructions to, a storage system, at least one input device, and
at least one output device. The programmable system or computer
system may include clients and servers. A client and server are
generally remote from each other and typically interact through a
communication network. The relationship of client and server arises
by virtue of computer programs running on the respective computers
and having a client-server relationship to each other.
[0067] The computer programs, which can also be referred to as
programs, software, software applications, applications,
components, or code, include machine instructions for a
programmable processor, and can be implemented in a high-level
procedural language, an object-oriented programming language, a
functional programming language, a logical programming language,
and/or in assembly/machine language. As used herein, the term
"machine-readable medium" refers to any computer program product,
apparatus and/or device, such as for example magnetic discs,
optical disks, memory, and Programmable Logic Devices (PLDs), used
to provide machine instructions and/or data to a programmable
processor, including a machine-readable medium that receives
machine instructions as a machine-readable signal. The term
"machine-readable signal" refers to any signal used to provide
machine instructions and/or data to a programmable processor. The
machine-readable medium can store such machine instructions
non-transitorily, such as for example as would a non-transient
solid-state memory or a magnetic hard drive or any equivalent
storage medium. The machine-readable medium can alternatively or
additionally store such machine instructions in a transient manner,
such as for example as would a processor cache or other random
access memory associated with one or more physical processor
cores.
[0068] To provide for interaction with a user, one or more aspects
or features of the subject matter described herein can be
implemented on a computer having a display device, such as for
example a cathode ray tube (CRT) or a liquid crystal display (LCD)
or a light emitting diode (LED) monitor for displaying information
to the user and a keyboard and a pointing device, e.g., a mouse, a
trackball, etc., by which the user may provide input to the
computer. Other kinds of devices can be used to provide for
interaction with a user as well. For example, feedback provided to
the user can be any form of sensory feedback, such as for example
visual feedback, auditory feedback, or tactile feedback; and input
from the user may be received in any form, including, but not
limited to, acoustic, speech, or tactile input. Other possible
input devices include, but are not limited to, touch screens or
other touch-sensitive devices such as single or multi-point
resistive or capacitive trackpads, voice recognition hardware and
software, optical scanners, optical pointers, digital image capture
devices and associated interpretation software, and the like.
[0069] FIG. 15 illustrates one exemplary embodiment of a computer
system 100. As shown, the computer system 100 includes one or more
processors 102 which can control the operation of the computer
system 100. "Processors" are also referred to herein as
"controllers." The processor(s) 102 can include any type of
microprocessor or central processing unit (CPU), including
programmable general-purpose or special-purpose microprocessors
and/or any one of a variety of proprietary or commercially
available single or multi-processor systems. The computer system
100 can also include one or more memories 104, which can provide
temporary storage for code to be executed by the processor(s) 102
or for data acquired from one or more users, storage devices,
and/or databases. The memory 104 can include read-only memory
(ROM), flash memory, one or more varieties of random access memory
(RAM) (e.g., static RAM (SRAM), dynamic RAM (DRAM), or synchronous
DRAM (SDRAM)), and/or a combination of memory technologies.
[0070] The various elements of the computer system 100 can be
coupled to a bus system 112. The illustrated bus system 112 is an
abstraction that represents any one or more separate physical
busses, communication lines/interfaces, and/or multi-drop or
point-to-point connections, connected by appropriate bridges,
adapters, and/or controllers. The computer system 100 can also
include one or more network interface(s) 106, one or more
input/output (IO) interface(s) 108, and one or more storage
device(s) 110.
[0071] The network interface(s) 106 can enable the computer system
100 to communicate with remote devices, e.g., other computer
systems, over a network, and can be, for non-limiting example,
remote desktop connection interfaces, Ethernet adapters, and/or
other local area network (LAN) adapters. The IO interface(s) 108
can include one or more interface components to connect the
computer system 100 with other electronic equipment. For
non-limiting example, the IO interface(s) 108 can include high
speed data ports, such as universal serial bus (USB) ports, 1394
ports, Wi-Fi, Bluetooth, etc. Additionally, the computer system 100
can be accessible to a human user, and thus the IO interface(s) 108
can include displays, speakers, keyboards, pointing devices, and/or
various other video, audio, or alphanumeric interfaces. The storage
device(s) 110 can include any conventional medium for storing data
in a non-volatile and/or non-transient manner. The storage
device(s) 110 can thus hold data and/or instructions in a
persistent state, i.e., the value(s) are retained despite
interruption of power to the computer system 100. The storage
device(s) 110 can include one or more hard disk drives, flash
drives, USB drives, optical drives, various media cards, diskettes,
compact discs, and/or any combination thereof and can be directly
connected to the computer system 100 or remotely connected thereto,
such as over a network. In an exemplary embodiment, the storage
device(s) can include a tangible or non-transitory computer
readable medium configured to store data, e.g., a hard disk drive,
a flash drive, a USB drive, an optical drive, a media card, a
diskette, a compact disc, etc.
[0072] The elements illustrated in FIG. 15 can be some or all of
the elements of a single physical machine. In addition, not all of
the illustrated elements need to be located on or in the same
physical machine. Exemplary computer systems include conventional
desktop computers, workstations, minicomputers, laptop computers,
tablet computers, personal digital assistants (PDAs), mobile
phones, and the like.
[0073] The computer system 100 can include a web browser for
retrieving web pages or other markup language streams, presenting
those pages and/or streams (visually, aurally, or otherwise),
executing scripts, controls and other code on those pages/streams,
accepting user input with respect to those pages/streams (e.g., for
purposes of completing input fields), issuing HyperText Transfer
Protocol (HTTP) requests with respect to those pages/streams or
otherwise (e.g., for submitting to a server information from the
completed input fields), and so forth. The web pages or other
markup language can be in HyperText Markup Language (HTML) or other
conventional forms, including embedded Extensible Markup Language
(XML), scripts, controls, and so forth. The computer system 100 can
also include a web server for generating and/or delivering the web
pages to client computer systems.
[0074] In an exemplary embodiment, the computer system 100 can be
provided as a single unit, e.g., as a single server, as a single
tower, contained within a single housing, etc. The single unit can
be modular such that various aspects thereof can be swapped in and
out as needed for, e.g., upgrade, replacement, maintenance, etc.,
without interrupting functionality of any other aspects of the
system. The single unit can thus also be scalable with the ability
to be added to as additional modules and/or additional
functionality of existing modules are desired and/or improved
upon.
[0075] A computer system can also include any of a variety of other
software and/or hardware components, including by way of
non-limiting example, operating systems and database management
systems. Although an exemplary computer system is depicted and
described herein, it will be appreciated that this is for sake of
generality and convenience. In other embodiments, the computer
system may differ in architecture and operation from that shown and
described here.
[0076] The devices disclosed herein can also be designed to be
disposed of after a single use, or they can be designed to be used
multiple times. In either case, however, the device can be
reconditioned for reuse after at least one use. Reconditioning can
include any combination of the steps of disassembly of the device,
followed by cleaning or replacement of particular pieces and
subsequent reassembly. In particular, the device can be
disassembled, and any number of the particular pieces or parts of
the device can be selectively replaced or removed in any
combination. Upon cleaning and/or replacement of particular parts,
the device can be reassembled for subsequent use either at a
reconditioning facility, or by a surgical team immediately prior to
a surgical procedure. Those skilled in the art will appreciate that
reconditioning of a device can utilize a variety of techniques for
disassembly, cleaning/replacement, and reassembly. Use of such
techniques, and the resulting reconditioned device, are all within
the scope of the present application.
[0077] Preferably, components of the invention described herein
will be processed before use. First, a new or used instrument is
obtained and if necessary cleaned. The instrument can then be
sterilized. In one sterilization technique, the instrument is
placed in a closed and sealed container, such as a plastic or TYVEK
bag. The container and instrument are then placed in a field of
radiation that can penetrate the container, such as gamma
radiation, x-rays, or high energy electrons. The radiation kills
bacteria on the instrument and in the container. The sterilized
instrument can then be stored in the sterile container. The sealed
container keeps the instrument sterile until it is opened in the
medical facility.
[0078] Typically, the device is sterilized. This can be done by any
number of ways known to those skilled in the art including beta or
gamma radiation, ethylene oxide, steam, and a liquid bath (e.g.,
cold soak). An exemplary embodiment of sterilizing a device
including internal circuitry is described in more detail in U.S.
Pat. No. 8,114,345 entitled "System And Method Of Sterilizing An
Implantable Medical Device." It is preferred that the device, if
implanted, is hermetically sealed. This can be done by any number
of ways known to those skilled in the art.
[0079] One skilled in the art will appreciate further features and
advantages of the invention based on the above-described
embodiments. Accordingly, the invention is not to be limited by
what has been particularly shown and described, except as indicated
by the appended claims. All publications and references cited
herein are expressly incorporated herein by reference in their
entirety.
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