U.S. patent application number 17/194183 was filed with the patent office on 2021-06-24 for enhanced flexible robotic endoscopy apparatus.
The applicant listed for this patent is ENDOMASTER PTE LTD. Invention is credited to Takahiro Kobayashi, Tae Zar Lwin, Naoyuki Naito, Makio Oishi, Isaac David Penny, Tsun En Tan, Tomonori Yamamoto.
Application Number | 20210186309 17/194183 |
Document ID | / |
Family ID | 1000005436433 |
Filed Date | 2021-06-24 |
United States Patent
Application |
20210186309 |
Kind Code |
A1 |
Lwin; Tae Zar ; et
al. |
June 24, 2021 |
ENHANCED FLEXIBLE ROBOTIC ENDOSCOPY APPARATUS
Abstract
An enhanced flexible robotic endoscopy apparatus includes a main
body and flexible elongate shaft. The main body comprises a
proximal end, a distal end and a housing that extends to the
proximal end and the housing comprises a plurality of surfaces and
a plurality of insertion inlets which reside on at least one of the
surface of the housing at the proximal end of the main body,
through which a plurality of channels for endoscopy are accessible.
Each of the insertion inlets has insertion axis corresponding
thereto, along which flexible elongate assemblies are insertable,
with the insertion axes of the insertion inlets being parallel to
the central axis of the flexible elongate shaft at the proximal end
of the flexible elongate shaft.
Inventors: |
Lwin; Tae Zar; (Singapore,
SG) ; Penny; Isaac David; (Singapore, SG) ;
Yamamoto; Tomonori; (Singapore, SG) ; Tan; Tsun
En; (Singapore, SG) ; Naito; Naoyuki; (Tokyo,
JP) ; Kobayashi; Takahiro; (Tokyo, JP) ;
Oishi; Makio; (Tokyo, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
ENDOMASTER PTE LTD |
Singapore |
|
SG |
|
|
Family ID: |
1000005436433 |
Appl. No.: |
17/194183 |
Filed: |
March 5, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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15127398 |
Sep 19, 2016 |
10939804 |
|
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PCT/SG2015/050042 |
Mar 19, 2015 |
|
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17194183 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 1/00121 20130101;
A61B 1/012 20130101; A61B 1/00149 20130101; A61B 34/37 20160201;
A61B 1/00066 20130101; A61B 1/0052 20130101; A61B 1/0051 20130101;
A61B 1/06 20130101; A61B 1/018 20130101; A61B 1/005 20130101; A61B
1/00147 20130101; A61B 1/00128 20130101; A61B 1/04 20130101; A61B
1/0057 20130101; A61B 2034/302 20160201; A61B 1/00133 20130101;
A61B 34/30 20160201; A61B 1/0016 20130101; A61B 1/0125 20130101;
A61B 1/00105 20130101; A61B 1/00013 20130101; A61B 2034/301
20160201; A61B 1/00112 20130101; A61B 2017/00477 20130101; A61B
1/00135 20130101; A61B 1/00131 20130101 |
International
Class: |
A61B 1/00 20060101
A61B001/00; A61B 1/005 20060101 A61B001/005; A61B 1/012 20060101
A61B001/012; A61B 34/30 20060101 A61B034/30; A61B 1/04 20060101
A61B001/04; A61B 1/018 20060101 A61B001/018 |
Claims
1. A robotic endoscopy system, comprising: at least one flexible
elongate assembly configured to perform endoscopic procedures
according to external control signals; a transport endoscope
comprising a proximal end, a distal end, a main body and a flexible
elongate shaft, the main body comprising a housing that extends to
the proximal end, a joint member on an exterior surface of the
housing, and a grip disposed toward a distal end of the housing,
wherein the flexible elongate shaft includes a central axis and a
plurality of channels therewithin for carrying portions of the at
least one flexible elongate assembly; a docking station configured
to be detachably engaged with the transport endoscope by way of the
joint member, the docking station having a translation unit
configured to be matingly engaged with the at least one flexible
elongate assembly and to selectively longitudinally translate at
least one of the flexible elongate assemblies across a
predetermined distance range; a motorbox comprising a plurality of
actuators configured to drive each of the flexible elongate
assemblies; and a main control unit configured to control each of
the plurality of actuators according to external control
signals.
2. The robotic endoscopy system of claim 1, wherein portions of the
housing have a shape of a cuboid tube.
3. The robotic endoscopy system of claim 1, wherein the joint
member is formed on a side surface of the housing.
4. The robotic endoscopy system of claim 1, wherein the housing
further comprises a plurality of insertion inlets disposed at a
proximal end of the housing, through which the plurality of
channels are accessible.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a divisional of commonly owned U.S.
patent application Ser. No. 15/127,398 filed on Sep. 19, 2016,
which is a U.S. National Phase application under 35 U.S.C. .sctn.
371, of International Application no. PCT/SG2015/050042, with an
international filing date of Mar. 19, 2015; all of which are hereby
incorporated herein by reference in their entireties.
TECHNICAL FIELD
[0002] The present disclosure relates to an enhanced flexible
robotic endoscopy apparatus having a main body and flexible
elongate shaft. The main body includes a housing having a proximal
end that carries a plurality of insertion inlets through which a
plurality of endoscopy instrument channels are accessible; and the
flexible elongate shaft has a proximal end extending away from the
distal end of the main body to a distal end, and a plurality of
channels therebetween for carrying portions of flexible elongate
assemblies insertable into the plurality of channels of the
flexible elongate shaft through the inlets.
BACKGROUND
[0003] Surgical robotics has enabled a revolution in surgical
techniques, particularly with respect to minimally invasive
surgery. The advent of flexible robotic endoscopy has enabled
procedures such as Natural Orifice Transluminal Endoscopic Surgery
(NOTES) or "incisionless" surgical procedures that do not require a
percutaneous access site into the body, whereby a flexible robotic
endoscope is inserted into a natural orifice of a subject, such as
the subject's mouth, and is further navigated within or along a
natural internal passageway such as portions of the subject's
digestive tract until a distal end of the endoscope is positioned
at or proximate to a target site of interest within the subject.
Once the distal end of the endoscope is positioned at the target
site, a surgical intervention can be performed by way of one or
more robot arms and corresponding end effectors that are carried by
the endoscope, and which are translatable and manipulable beyond
the endoscope's distal end under robotic control in response to
surgeon interaction with a control console. Representative examples
of a master-slave flexible robotic endoscope system are described
in (a) International Patent Application No. PCT/SG2013/000408;
and/or (b) International Patent Publication No. WO 2010/138083.
SUMMARY OF THE INVENTION
Technical Problems
[0004] In current flexible robotic endoscopy systems, a number of
flexible endoscopic instruments or instrument assemblies such as
robotic arms with corresponding end effectors and an imaging
assembly probe for capturing images of the end effector(s), are
known. The flexible endoscopic instruments are disposable, and can
be inserted into or withdrawn from the flexible robotic endoscopy
system.
[0005] Within an operating theater, it is desirable to enhance or
maximize the convenience and rapidity of setup/assembly and
disassembly of the flexible robotic endoscopy system, while
simultaneously ensuring that the overall manner in which the system
is setup enables highly precise spatial and temporal control over
the robotic elements of the system. Furthermore, under operating
theater conditions, a clinician will need to quickly install new
flexible endoscopic instruments or replace currently installed
flexible endoscopic instruments with new or other types of flexible
endoscopic instruments.
[0006] Unfortunately, existing systems fail to adequately consider
the impact of the manner in which the flexible endoscopic system is
setup, and the manner in which flexible endoscopic instruments are
inserted into and through the flexible robotic endoscopy system and
the resulting forces on internal portions of the endoscopic
instruments have upon the ability of the system to reliably
spatially and temporally control the end effector(s) with maximum
precision.
Advantageous Effects
[0007] According to embodiments of the present disclosure, a
plurality of flexible robotic elongate assemblies such as actuation
assemblies and a flexible imaging endoscopy assembly can be
inserted into a transport endoscope and a flexible elongate shaft
thereof quickly and conveniently, in a manner that facilitates
enhanced precision spatial and temporal control of the robotic
elements of such assemblies.
[0008] According to embodiments of the present disclosure, the
transport endoscope is easily and securely detachably engaged with
the docking station, for instance, by way of the joint member. The
grip on the main body of the transport endoscope is typically
positioned toward the distal end of the main body, and the joint
member is positioned toward the proximal end of the main body. A
clinician such as an endoscopist can hold the grip on the main
body, and rapidly and conveniently engage or disengage the main
body from the docking station. It is not necessary for the
clinician to change or release the grip of the main body from their
hand to engage or disengage the transport endoscope with or from
the docking station.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] FIGS. 1A and 1B are schematic illustrations of a
master-slave flexible robotic endoscopy system in accordance with
an embodiment of the disclosure.
[0010] FIG. 2 is a schematic illustration of a master system in
accordance with an embodiment of the present disclosure.
[0011] FIG. 3 is a schematic illustration of a slave system in
accordance with an embodiment of the present disclosure.
[0012] FIGS. 4A-4D are schematic illustrations of a representative
transport endoscope, first and second actuation assemblies, and an
imaging endoscope assembly, respectively, in accordance with an
embodiment of the present disclosure.
[0013] FIG. 5 is a schematic illustration of a pair of robotic arms
and corresponding end effectors carried thereby, as well as an
imaging endoscope, positioned in an environment beyond a distal end
of a transport endoscope in accordance with an embodiment of the
present disclosure.
[0014] FIG. 6 illustrates a representative main body 310 in
accordance with an embodiment of the present disclosure more
specifically.
[0015] FIGS. 7A-7C illustrate arrangement of the insertion inlets
in accordance with embodiments of the present disclosure.
[0016] FIG. 8A is a representative cross sectional illustration of
a transport endoscope shaft in accordance with an embodiment of the
present disclosure and FIG. 8B is a representative cross sectional
illustration of a transport endoscope shaft in accordance with
another embodiment of the present disclosure.
[0017] FIGS. 9A-9C are schematic illustrations showing imaging
endoscope assembly insertion into a transport endoscope, imaging
connector assembly coupling to an imaging subsystem, imaging input
adapter coupling to an imaging output adapter of a motorbox, and an
endoscopy support function connector assembly coupling to a valve
control unit in accordance with an embodiment of the present
disclosure.
[0018] FIGS. 10A-10B are schematic illustrations showing transport
endoscope docking to a docking station, with portions of outer
sleeves/coils of actuation assemblies and an outer sleeve of an
imaging endoscope assembly inserted into the transported endoscope,
and such outer sleeves securely coupled to a translation unit of
the docking station.
[0019] FIG. 10C is a schematic illustration showing a
representative translation unit carried by the docking station, and
a representative manner in which collar elements corresponding to
actuation assemblies and an imaging endoscope assembly are retained
by the translation unit.
[0020] FIGS. 11A-11C illustrate a docking mechanism by which the
transport endoscope can be matingly engaged with docking station in
accordance with an embodiment of the present disclosure.
[0021] FIG. 12 illustrates a docking mechanism of FIGS. 11A-11C in
more details.
[0022] FIGS. 13A-13C illustrate a docking mechanism by which the
transport endoscope can be matingly engaged with docking station in
accordance with another embodiment of the present disclosure.
[0023] FIG. 14 shows an illustration of transport endoscope's main
body 310 for docking mechanism of FIGS. 13A-13C in accordance with
an embodiment of the present disclosure.
[0024] FIG. 15 is a schematic illustration showing coupling of an
instrument input adapter of each actuation assembly to a
corresponding instrument output adapter corresponding to a motorbox
in accordance with an embodiment of the present disclosure.
[0025] FIG. 16 is a perspective cutaway view showing representative
internal portions of an instrument input adapter mounted to an
instrument output adapter of the motorbox in accordance with an
embodiment of the present disclosure.
[0026] FIG. 17 is a corresponding cross sectional illustration
showing representative internal portions of the instrument adapter
and instrument output adapter when coupled together or matingly
engaged in accordance with an embodiment of the present
disclosure.
[0027] FIGS. 18A-18D are cross sectional illustrations showing
representative internal portions of actuation engagement structures
of the instrument input adapter, and the positions of elements
therein, corresponding to particular phases of engagement of the
instrument input adapter with and disengagement of the instrument
input adapter from the instrument output adapter in accordance with
an embodiment of the present disclosure.
DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS
[0028] In the present disclosure, depiction of a given element or
consideration or use of a particular element number in a particular
FIG. or a reference thereto in corresponding descriptive material
can encompass the same, an equivalent, or an analogous element or
element number identified in another FIG. or descriptive material
associated therewith. The use of "/" in a FIG. or associated text
is understood to mean "and/or" unless otherwise indicated. The
recitation of a particular numerical value or value range herein is
understood to include or be a recitation of an approximate
numerical value or value range, for instance, within +/-20%,
+/-15%, +/-10%, or +/-5%.
[0029] As used herein, the term "set" corresponds to or is defined
as a non-empty finite organization of elements that mathematically
exhibits a cardinality of at least 1 (i.e., a set as defined herein
can correspond to a unit, singlet, or single element set, or a
multiple element set), in accordance with known mathematical
definitions (for instance, in a manner corresponding to that
described in An Introduction to Mathematical Reasoning: Numbers,
Sets, and Functions, "Chapter 11: Properties of Finite Sets" (e.g.,
as indicated on p. 140), by Peter J. Eccles, Cambridge University
Press (1998)). In general, an element of a set can include or be a
system, an apparatus, a device, a structure, an object, a process,
a physical parameter, or a value depending upon the type of set
under consideration.
[0030] Embodiments of the present disclosure are directed to
master-slave flexible robotic endoscopy systems, which include a
master-side system and a slave-side system that is controllable or
controlled by the master-side system. Also, the embodiments of the
present disclosure provide enhanced mechanisms or structures of the
slave or slave-side system.
[0031] FIGS. 1A and 1B are schematic illustrations of a
master-slave flexible robotic endoscopy system 10 in accordance
with an embodiment of the disclosure. In an embodiment, the system
10 includes a master or master-side system 100 having master-side
elements associated therewith, and a slave or slave-side system 200
having slave-side elements associated therewith.
[0032] With further reference to FIG. 5 which shows a distal end of
endoscopy apparatus disposed at a slave or slave-side system 200,
in various embodiments, the master system 100 and the slave system
200 are configured for signal communication with each other such
that the master system 100 can issue commands to the slave system
200 and the slave system 200 can precisely control, maneuver,
manipulate, position, and/or operate (a) a set of robotic arms
400a,b and corresponding end effectors 410a,b carried or supported
by a transport endoscope 300 of the slave system 200, and possibly
(b) an imaging endoscope or imaging probe member 460 carried or
supported by the transport endoscope 300, in response to master
system inputs. The master and slave systems 100, 200 can further be
configured such that the slave system 200 can dynamically provide
tactile/haptic feedback signals (e.g., force feedback signals) to
the master system 100 as the robotic arms 410a,b and/or end
effectors 420a-b associated therewith are positioned, manipulated,
or operated. Such tactile/haptic feedback signals are correlated
with or correspond to forces exerted upon the robotic arms 410a,b
and/or end effectors 420a-b within an environment in which the
robotic arms 410a,b and end effectors 420a,b reside.
[0033] Turning back to FIGS. 1A and 1B, various embodiments in
accordance with the present disclosure are directed to surgical
situations or environments, for instance, Natural Orifice
Transluminal Endoscopic Surgery (NOTES) procedures performed upon a
patient or subject while they are disposed on a surgical table or
platform 20. In such embodiments, at least portions of the slave
system 200 are configured to reside within an Operating Theatre
(OT) or Operating Room (OR). Depending upon embodiment details, the
master system 100 can reside within or outside of (e.g., near or
remote from) the OT/OR. Communication between the master system 100
and the slave system 200 can occur directly (e.g., through a set of
local communication lines, and/or local wireless communication), or
indirectly by way of one or more networks (e.g., a Local Area
Network (LAN), a Wide Area Network (WAN), and/or the Internet) in
accordance with embodiment details.
[0034] FIG. 2 is a schematic illustration of a master system 100 in
accordance with an embodiment of the present disclosure. In an
embodiment, the master system 100 includes a frame or console
structure 102 that carries left and right haptic input devices
110a,b; a set of additional/auxiliary hand-operated input
devices/buttons 115; a set of foot operated controls or pedals
120a-d; a display device 130; and a processing module 150. The
frame/console structure 102 can include a set of wheels 104 such
that the master system 100 is readily portable/positionable within
an intended usage environment (e.g., an OT/OR, or a room external
to or remote therefrom); and a set of arm supports 112. During a
representative endoscopy procedure, a surgeon positions or seats
themselves relative to the master system 100 such that their left
and right hands can hold or interact with the left and right haptic
input devices 110a,b, and their feet can interact with the pedals
120a-d. The processing module 150 processes signals receive from
the haptic input devices 110a,b, the additional/auxiliary
hand-operated input devices 115, and the pedals 120a-d, and issues
corresponding commands to the slave system 200 for purpose of
manipulating/positioning/controlling the robotic arms 410a,b and
the end effectors 420a,b corresponding thereto, and possibly
manipulating/positioning/controlling the imaging endoscope 460. The
processing module 150 can additionally receive tactile/haptic
feedback signals from the slave system 200, and conveys such
tactile/haptic feedback signals to the haptic input devices 110a,b.
The processing module 150 includes computing/processing and
communication resources (e.g., one or more processing units,
memory/data storage resources including Random Access Memory (RAM)
Read-only Memory (ROM), and possibly one or more types of disk
drives, and a serial communication unit and/or network
communication unit) in a manner readily understood by one having
ordinary skill in the relevant art.
[0035] FIG. 3 is a schematic illustration of a slave system 200 in
accordance with an embodiment of the present disclosure. In an
embodiment, the slave system 200 includes a transport endoscope 300
having a flexible elongate shaft 320; a docking station 500 to
which the transport endoscope 300 can be selectively/selectably
coupled (e.g., mounted/docked and dismounted/undocked); an imaging
subsystem 210; an endoscopy support function subsystem 250 and an
associated valve control unit 270; an actuation unit or motorbox
600; and a main control unit 800. In several embodiments, the slave
system 200 additionally includes a patient-side cart, stand, or
rack 202 configured for carrying at least some slave system
elements. The patient side cart 202 typically includes wheels 204
to facilitate easy portability and positioning of the slave system
200 (e.g., at a desired location within an OT/OR).
[0036] In brief, the imaging subsystem 210 facilitates the
provision or delivery of illumination to the imaging endoscope 460,
as well as the processing and presentation of optical signals
captured by the imaging endoscope 460. The imaging subsystem 210
includes an adjustable display device 220 configured for presenting
(e.g., on a real-time basis) images captured by way of the imaging
endoscope 460, in a manner readily understood by one having
ordinary skill in the relevant art. The endoscopy support function
subsystem 250 in association with the valve control unit 270
facilitates the selective controlled provision of insufflation or
positive pressure, suction or negative/vacuum pressure, and
irrigation to the transport endoscope 300, as also readily
understood by one having ordinary skill in the relevant art. The
actuation unit/motorbox 600 provides a plurality of actuators or
motors configured for driving the robotic arms 410a,b and the end
effectors 420a,b under control of the main control unit 800, which
includes a set of motor controllers.
[0037] The main control unit 800 additionally manages communication
between the master system 100 and the slave system 200, and
processes input signals received from the master system 100 for
purpose of operating the robotic arms 410a,b and end effectors
420a,b in a manner that directly and precisely corresponds to
surgeon manipulation of the master system's haptic input devices
110a,b. In multiple embodiments, the main control unit 800
additionally generates the aforementioned tactile/haptic feedback
signals, and communicates such tactile/haptic feedback signals to
the master system 100 on a real-time basis. In several embodiments,
the tactile/haptic feedback signals can be generated by way of
sensors that are disposed proximal to the flexible elongate shaft
320 and/or body 310 (e.g., sensors that reside in the motorbox
600), without use or exclusive of sensors carried within or distal
to the flexible elongate shaft 320 and/or body 310 (e.g., sensors
carried on, near, or generally near a robotic arm 410 or end
effector 420). Representative manners of generating tactile/haptic
feedback signals are described in detail in International Patent
Application No. WO 2010/138083. The main control unit 800 includes
signal/data processing, memory/data storage, and signal
communication resources (e.g., one or more microprocessors, RAM,
ROM, possibly a solid state or other type of disk drive, and a
serial communication unit and/or network interface unit) in a
manner readily understood by one having ordinary skill in the
relevant art.
[0038] FIG. 4A is an illustration of a representative transport
endoscope 300 and FIGS. 4B-4D are illustrations of representative
flexible elongate assemblies which can be inserted to or withdrawn
from the transport endoscope 300 in accordance with an embodiment
of the disclosure. The flexible elongate assemblies may comprise
the actuation assemblies 400a, 400b as shown in FIGS. 4B-4C and a
flexible imaging endoscope assembly 450 as shown in FIG. 4D.
[0039] The actuation assemblies 400a, 400b may include or be
robotic surgical instruments, e.g., a grasper 400a as shown in FIG.
4B or e.g., a cautery spatula 400b as shown in FIG. 4C in
accordance with an embodiment of the disclosure. Also, flexible
imaging endoscope assembly 450 may be an imaging endoscope probe in
accordance with an embodiment of the disclosure as shown in FIG.
4D.
[0040] With reference to FIG. 4A, the transport endoscope 300
comprises a main body 310 at a proximal end and a flexible elongate
shaft 320 toward a distal end. In a preferred embodiment, the main
body 310 may be made of rigid material(s) such as hard plastics or
metals and the flexible elongate shaft 320 is made of flexible
materials such as rubber, rubber-like, and/or soft plastic
materials.
[0041] The main body 310 includes or defines a proximal portion,
border, surface, or end of the transport endoscope 300, and
provides a plurality of insertion inlets 315 through which channels
that extend within and along the flexible elongate shaft 320 are
accessible. The main body 310 comprises a proximal end portion or
proximal end 311a and a distal end portion or distal end 311b, and
a housing 312 that extends between or from the proximal end 311a to
the distal end 311b. The housing 312 comprises a plurality of
surfaces and the plurality of insertion inlets 315. The plurality
of insertion inlets 315 is carried by the proximal end 311a of the
main body 310, for instance, such that the plurality of insertion
inlets 315 resides on at least one surface of the housing 312 at
the main body's proximal end 311a (e.g., a top surface or a set of
top surfaces of the housing 312 at the main body's proximal end
311a).
[0042] In several embodiments, the main body 310 additionally
provides a control interface for the transport endoscope 300, by
which an endoscopist can exert navigational control over the
flexible elongate shaft 320. For instance, the main body 310 can
include a number of control elements, such as one or more buttons,
knobs, switches, levers, joysticks, and/or other control elements
to facilitate endoscopist control over transport endoscope
operations, in a manner readily understood by one having ordinary
skill in the relevant art.
[0043] The flexible elongate shaft 320 is configured to extend away
from the distal end 311b of the main body 310 and terminate at a
distal end of the transport endoscope 300. The flexible elongate
shaft 320 comprises a proximal end 321a, a distal end 321b, a
central axis (not shown) and a plurality of channels therewithin
for carrying portions of flexible elongate assemblies and an
opening disposed at the flexible elongate shaft's distal end 321b
for each of the plurality of channels.
[0044] The plurality of channels may comprise a set of instrument
channels which carry actuation assemblies 400a, 400b as shown in
FIGS. 4B-4C. In various embodiments, the channels may also comprise
passages for enabling the delivery of insufflation or positive
pressure, suction or vacuum pressure, and irrigation to an
environment in which the distal end of the flexible elongate shaft
320 resides.
[0045] Each actuation assembly 400a,b typically corresponds to a
given type of endoscopic tool. For instance, in a representative
implementation, a first actuation assembly 400a can carry a first
robotic arm 410a having a grasper or similar type of end effector
420a as shown in FIG. 4B; and a second actuation assembly 400b can
carry a second robotic arm 410b having a cautery spatula or similar
type of cauterizing end effector 420b as shown in FIG. 4C.
[0046] In an embodiment indicated in FIGS. 4B-4C, a given actuation
assembly 400a,b includes a robot arm 410a,b and its corresponding
end effector 420a,b; a flexible elongate outer sleeve and/or coil
402a,b that internally carries a plurality of tendon/sheath
elements, such that tension or mechanical forces can be selectively
applied to particular tendon elements for precisely manipulating
and controlling the operation of the robot arm 410a,b and/or the
end effector 420a,b; and an instrument input adapter 710a,b by
which tendons within the outer sleeve 402a,b can be mechanically
coupled to corresponding actuators within the motorbox 600, as
further detailed below. Representative types of tendon/sheath
elements, robotic arms 410a,b, and end effectors 420a,b, as well as
representative manners in which tendon elements can couple to and
control portions of a robot arm 410a,b (e.g., joints/joint
primitives) and/or a corresponding end effector 420a,b to provide
maneuverability/manipulability relative to available DOFs are
described in detail in (a) International Patent Application No.
PCT/SG2013/000408; and/or (b) International Patent Publication No.
WO 2010/138083. A given tendon and its corresponding sheath can be
defined as a tendon/sheath element.
[0047] In FIGS. 4B and 4C, the robot arm 410a,b, end effector
420a,b, and portions of the outer sleeve/coil 402a,b can be
inserted into an instrument channel of the flexible elongate shaft
320, such that the robot arm 410a,b and the end effector 420a,b
reach or approximately reach, and can extend a predetermined
distance beyond, the distal end 321b of the flexible elongate shaft
320. As described in detail below, the actuation assembly's outer
sleeve/coil 402a,b, and hence the robot arm 410a,b and end effector
420a,b, can be selectively longitudinally translated or surged
(i.e., displaced distally or proximally with respect to the distal
end 321b of the flexible elongate shaft 320) by way of a
translation unit such that the proximal-distal positions of the
robotic arm 410a,b and the end effector 420a,b relative to the
distal end 321b of the flexible elongate shaft 320 can be adjusted
within an environment beyond the distal end 321b of the flexible
elongate shaft 320, up to a predetermined maximum distance away
from the distal end 321b of the flexible elongate shaft 320, for
purpose of carrying out an endoscopic procedure. In a number of
embodiments, an actuation assembly 400 can be disposable.
[0048] In particular embodiments, the actuation assembly 400a,b
includes a collar element, collet, or band 430a,b that surrounds at
least a portion of the outer sleeve/coil 402a,b at a predetermined
distance away from the distal tip of the end effector 420a,b. As
detailed below, the collar element 430a,b is designed to matingly
engage with a receiver of the translation mechanism, such that
longitudinal/surge translation of the collar element 430a,b across
a given distance relative to the distal end of the flexible
elongate shaft 320 results in corresponding longitudinal/surge
translation of the robotic arm 410a,b and end effector 420a,b.
[0049] In several embodiments, the plurality of channels provided
within the flexible elongate shaft 320 additionally include an
imaging endoscope channel, which is configured for carrying
portions of a flexible imaging endoscope assembly 450 as shown in
FIG. 4D that can be inserted into and/or withdrawn from the
transport endoscope 300. Referring to FIG. 4D, in a manner
analogous or generally analogous to that described above for the
actuation assembly 400a,b, in an embodiment the imaging endoscope
assembly 450 includes a flexible outer sleeve, coil, or shaft 452
that surrounds or forms an outer surface of the flexible imaging
endoscope 460; an imaging input adapter 750 by which a set of
tendons corresponding to or within the imaging endoscope 460 can be
mechanically coupled to corresponding actuators within the motorbox
600 such that a distal portion of the imaging endoscope 460 can be
selectively maneuvered or positioned in accordance with one or more
DOFs (e.g., heave and/or sway motion) within an environment at,
near, and/or beyond the distal end 321b of the flexible elongate
shaft 320; and an imaging connector assembly 470 by which optical
elements (e.g., optical fibers) of the imaging endoscope 460 can be
optically coupled to an image processing unit of the imaging
subsystem 210. For instance, the imaging endoscope 460 can include
or be coupled to tendons such that a distal end or face of the
imaging endoscope 460 can selectively/selectably capture
anterograde and retrograde images of the robotic arms 410a,b and
end effectors 420a,b during an endoscopic procedure. Representative
embodiments of imaging endoscopes and control elements such as
tendons associated therewith that can be incorporated into an
imaging endoscope assembly 450 in accordance with an embodiment of
the present disclosure are described in International Patent
Application No. PCT/SG2013/000408 hereto. In some embodiments, the
imaging endoscope assembly 450 can be disposable.
[0050] In a manner identical, essentially identical, or analogous
to that for the actuation assembly 400a,b, the outer sleeve 452 of
the imaging endoscope assembly 450, and hence the distal end of the
imaging endoscope 460, can be selectively longitudinally
translated/surged relative to the distal end 321b of the flexible
elongate shaft 320 by way of the translation mechanism, such that
the longitudinal or proximal-distal position of the imaging
endoscope 460 can be adjusted at, near, and/or beyond the distal
end of the flexible elongate shaft 320 across a predetermined
proximal-distal distance range in association with an endoscopic
procedure.
[0051] In a number of embodiments, the imaging endoscope assembly
450 includes a collar element 430c that surrounds at least portions
of the imaging endoscope assembly's outer sleeve 452 at a
predetermined distance away from the distal end 460 of the imaging
endoscope 450. The collar element 430c is configured for mating
engagement with a receiver or receiving structure of the
translation mechanism, such that longitudinal/surge displacement of
the collar element 430c across a given distance relative to the
distal end of the flexible elongate shaft 320 results in
corresponding longitudinal/surge displacement of the distal end of
the imaging endoscope 460.
[0052] As a result, in several embodiments the transport endoscope
300 may have two robotic arms 410a,b and corresponding end
effectors 420a,b carried thereby, as well as a flexible imaging
endoscope, positioned in an environment beyond a distal end of a
transport endoscope in accordance with an embodiment of the present
disclosure as shown in FIG. 5.
[0053] In an embodiment, the flexible elongate assemblies
comprising actuation assemblies 400a, 400b and a flexible imaging
endoscope assembly 450 may be insertable to the plurality of
channels within the flexible elongate shaft 320 through the
insertion inlets 315, with axes of the flexible elongate assemblies
being parallel to the central axis of the flexible elongate shaft.
In other words, the actuation assemblies 400a,b of FIGS. 4B and 4C
and the flexible imaging endoscope assembly 450 of FIG. 4D are
configured for insertion into and withdrawal from instrument
channels and an imaging endoscope channel of the transport
endoscope 300, respectively, with axes of the actuation assemblies
400a,b and axis of the flexible imaging endoscope assembly being
parallel to the central axis of the flexible elongate shaft 320 as
shown in FIG. 9A, or parallel to the instrument channels or the
imaging endoscope channel carried by the flexible elongate shaft
320 as readily understood by one having ordinary skill in the
relevant art. Correspondingly or equivalently, each of the
insertion inlets 315 can have an insertion axis corresponding
thereto, along which an actuation assembly 400 or the flexible
imaging endoscope assembly 450 is insertable, such that the
insertion axes of the insertion inlets 315 are parallel to the
central axis of the flexible elongate shaft 320 at the proximal
region or end of the flexible elongate shaft 320. For a given
insertion inlet 315, a plane of an aperture or opening of the
insertion inlet 315 into and through which an actuation assembly
400 or the flexible imaging endoscope assembly 450 is
insertable/inserted is transverse or perpendicular to its insertion
axis.
[0054] Referring further to FIGS. 4B-4C, when the actuation
assemblies 400a,b and the flexible imaging endoscope assembly 450
have been fully inserted into the transport endoscope 300 prior to
their manipulation in an environment external to the distal end of
the flexible elongate shaft 320 during an endoscopic procedure,
each collar element 430a-c remains outside of and at least slightly
away from the flexible elongate shaft 320, and in various
embodiments outside of and at least slightly away from the
transport endoscope's main body 310, such that longitudinal
translation or surge motion of a given collar element 430a-c across
a predetermined proximal-distal distance range can freely occur by
way of the translation unit, without interference from the flexible
elongate shaft 320 and/or main body 310. Thus, the outer
sleeve/coil 402a,b of each actuation assembly 400a,b must distally
extend a sufficient length away from a distal border of its collar
element 430a,b, such that the end effector 420a,b reaches or
approximately reaches the distal end 321b of the flexible elongate
shaft 320 when the collar element 430a,b resides at a most-proximal
position relative to the translation unit. Similarly, the imaging
endoscope assembly's outer sleeve 452 must distally extend a
sufficient length away from its collar element 430c such that the
distal end of the imaging endoscope 460 resides at an intended
position at, proximate to, or near the distal end 321b of the
flexible elongate shaft 320 when the collar element 430c is at a
most-proximal position relative to the translation unit.
[0055] Referring back to FIG. 4A, the transport endoscope 300 may
additionally include an endoscopy support function connector
assembly 370 by which the transport endoscope's main body 310 can
be coupled to the endoscopy support function subsystem 250, in a
manner readily understood by one having ordinary skill in the
relevant art.
[0056] FIG. 6 illustrates a representative main body 310 in
accordance with an embodiment of the present disclosure more in
details. As shown in FIG. 6, the main body 310 may comprise a
housing 312 that extends to the proximal end 311a, a joint member
316 on a surface of the housing 312 and a grip 313 toward the
distal end 311b. Also, the main body 310 may further comprise a
connector 314 which connects the main body 310 and the flexible
elongate shaft 320. In a more refined or preferred embodiment, the
housing 312 may include or be a cuboid or generally cuboid
structure (e.g., a rectangular or generally rectangular cuboid
tube), and a plurality of insertion inlets 315 may be formed on an
upper and/or top surface thereof toward the proximal end of the
housing 312. Also, a joint member engages the transport endoscope
300 with other elements of the slave system 200, e.g. the docking
station 500, as will be described later and may be provided on a
side surface of the housing 312. The grip 313 provides a region,
portion, or structure that a clinician (e.g., an endoscopist or
surgeon) can hold to couple or engage the transport endoscope 300
with other elements of the slave system, and spatially adjust,
position, or move portions of the transport endoscope 300 relative
to other elements of the slave system and/or the subject or
patient.
[0057] In accordance with an embodiment of the present disclosure,
a joint member 316 is located on a side surface of the housing 312
that extends from the proximal end 311a to the distal end 311b and
a grip 313 is located toward the distal end of the transport
endoscope 300. That is, the join member 316 is positioned toward
the proximal end of the transport endoscope 300 and the grip 313 is
positioned toward distal end of the transport endoscope 300 on the
main body 310. Therefore, it is not necessary for a clinician to
change or release the grip of main body to engage or disengage the
transport endoscope 300 with or from docking station 500, or the
docking mechanism as shown in FIGS. 11-14. Also, the docking
mechanism can be more stable since a clinician can mount the
transport endoscope 300 on the docking station 500 while the grip
313 of the main body 310 is held.
[0058] Depending upon embodiment details, the insertion inlets 315
on a surface of the main body 310 may be arranged in various ways.
In a refined or preferred embodiment, the insertion inlets may be
arranged such that it reduces or minimizes mechanical stress(es) on
both the transport endoscope 300 and the flexible elongate
assemblies including the actuation assemblies 400a, 400b and a
flexible imaging endoscope assembly 450 when the clinician
inserts/withdraws the flexible elongate assemblies into/from
transport endoscope 300 or the slave or slave side system 200. In
an embodiment, the insertion inlets 315 may be arranged in a linear
or generally linear manner (e.g., along a line) as shown in FIGS.
7A-7B. Also, the insertion inlets 315 may be arranged in a line
parallel to a given boundary, border, edge, or sideline of the
surface, as shown in FIG. 7A, or arranged in a diagonal line as
shown in FIG. 7B. Also, the number of the insertion inlets may be
changed according to the number of flexible endoscope assemblies to
be inserted to the transport endoscope 300 as shown in FIG. 7C and
the arrangement thereof may be changed accordingly.
[0059] Representative embodiments of the transport endoscope 300
are described in detail in International Patent Application No.
PCT/SG2013/000408 hereto. In certain embodiments, the transport
endoscope 300 can be configured for carrying another number of
actuation assemblies 400. Furthermore, the cross-sectional
dimensions of the transport endoscope 300, the channels/passages
therein, one or more actuation assemblies 400, and/or an imaging
endoscope assembly 450 can be determined, selected, or specified in
accordance with a given type of surgical/endoscopic procedure
and/or transport endoscope shaft size/dimensional constraints under
consideration.
[0060] FIG. 8A is a representative cross sectional illustration of
a flexible elongate shaft 320 in accordance with another embodiment
of the present disclosure, in which the channels/passages therein
include a primary instrument channel 330 having a large or maximal
cross-sectional area/diameter configured for accommodating a
high/maximum DOF robot arm/end effector 410, 420; a secondary
instrument channel 360 having a smaller or significantly smaller
cross-sectional area/diameter than the primary instrument channel
330, which can be configured for accommodating a manually operated
conventional endoscopic instrument/tool, such as a conventional
grasper (e.g., in such an embodiment, a robotic actuation assembly
400 as well as a conventional/manual actuation assembly can be
inserted into corresponding ports in the transport endoscope body
310); and an imaging endoscope channel 335 configured for
accommodating an imaging endoscope 460.
[0061] In an alternate embodiment, a flexible elongate shaft 320
such as that shown in FIG. 8A can exclude or omit an imaging
endoscope channel 335 configured for accommodating an imaging
endoscope 460, and can rather include or carry conventional
endoscopic imaging elements or devices that are separate from, are
not carried by, or do not form portions of an imaging endoscope 460
that is insertable into and removable from the flexible elongate
shaft 320 (e.g., by way of an imaging endoscope channel 335), but
which are configured to facilitate or enable the capture of images
of an environment beyond the flexible elongate shaft's distal end
321b (e.g., one or more images of a robotic end effector 420 and/or
a manually operated end effector) during an endoscopic procedure).
Depending upon embodiment details, such conventional endoscopic
imaging elements can include a set of illumination sources or
devices (e.g., LEDs) and/or optical fibers corresponding thereto;
an image capture device (e.g., a CCD chip and/or other type of
image sensor); and a lens, at least some of which are positionally
fixed with respect to the flexible elongate shaft 320, for
instance, as a result of being embedded within or securely mounted
on the flexible endoscope shaft 320, in a manner readily understood
by individuals having ordinary skill in the art. For instance, in
such an alternate embodiment, the lens can be carried by, disposed
on, or mounted to the distal end 321b of the flexible elongate
shaft 320 (e.g., on a vertical or angled distal face thereof), and
the image sensor can be disposed behind the lens.
[0062] FIG. 8B is a representative cross sectional illustration of
a flexible elongate shaft 320 in accordance with yet another
embodiment of the present disclosure, in which the
channels/passages therein include a first and a second instrument
channel 332a,b having relatively small(er) cross-sectional areas or
diameters configured for accommodating reduced/limited DOF robotic
arms/end effectors 410a,b, 420a,b compared to the flexible elongate
shaft embodiment of FIG. 8A; and an imaging endoscope channel 335
configured for accommodating an imaging endoscope 460.
[0063] Flexible elongate shaft embodiments such as those shown in
FIGS. 8A and 8B can result in smaller overall cross-sectional areas
than a flexible elongate shaft 320 described elsewhere herein, for
purpose of facilitating an given type of endoscopic procedure
and/or improving intubation, in a manner readily understood by one
having ordinary skill in the relevant art.
[0064] Representative Procedural Setup and Interface Coupling to
Motorbox
[0065] FIGS. 9A-9C illustrate portions of a representative setup
procedure by which an imaging endoscope assembly 450 and a pair of
actuation assemblies 400a,b can be inserted into the transport
endoscope 300 and coupled to or interfaced with other portions of
the slave system 200, including the motorbox 600.
[0066] As indicated in FIG. 9A, portions of the imaging endoscope
assembly's outer sleeve 452 distal to the collar element 430c
corresponding thereto can be inserted into one of insertion inlets
315 formed in the transport endoscope's main body 310, such that
the imaging endoscope 460 can be fed into and distally advanced
along the `s shaft 320 to an initial intended, default, or parked
position relative to the distal end 321b thereof. As previously
indicated, the collar element 430c coupled to the imaging endoscope
assembly's outer sleeve 452 remains external to the flexible
elongate shaft 320. More particularly, in the embodiment shown, the
collar element 430c remains external to the transport endoscope's
main body 310, such that the collar element 430c resides a given
distance proximate to the port that received the outer sleeve 452
of the imaging endoscope assembly 450. The imaging connector
assembly 470 can be coupled to the imaging subsystem 210, for
instance, as in a manner indicated in FIG. 9A, as readily
understood by one having ordinary skill in the relevant art, such
that the imaging endoscope 460 can output illumination and capture
images.
[0067] As further indicated in FIG. 9B, the imaging endoscope
assembly's imaging input adapter 750 can be coupled to a
corresponding imaging output adapter 650 of the motorbox 600. By
way of such adapter-to-adapter coupling, a set of tendons internal
to the imaging endoscope assembly's outer sleeve 452 can be
mechanically coupled or linked to one or more actuators or motors
within the motorbox 600. Such tendons are configured for
positioning or maneuvering the imaging endoscope 460 in accordance
with one or more DOFs, for instance, in a manner indicated in
International Patent Application No. PCT/SG2013/000408 hereto.
Consequently, the imaging endoscope 460 can be selectively
positioned or manipulated in particular manners relative to the
distal end 321b of the flexible elongate shaft 320 as a result of
the selective application of tension to the imaging endoscope
assembly's tendons by way of one or more actuators within the
motorbox 600 that are associated with imaging endoscope position
control.
[0068] In addition to the foregoing, the transport endoscope's
support function connector assembly 370 can be coupled to the
endoscopy support function subsystem 250, for instance, in a manner
indicated in FIG. 9C, in order to facilitate the provision of
insufflation or positive pressure, suction or negative/vacuum
pressure, and irrigation in a manner readily understood by an
individual having ordinary skill in the relevant art.
[0069] FIGS. 10A-10C illustrate portions of docking mechanism by
which the transport endoscope 300, and an imaging endoscope
assembly 450 and a pair of actuation assemblies 400a,b can be
matingly engaged with docking station 500 and translation unit 510
thereof. With reference to FIG. 10A, the transport endoscope's main
body 310 can be docked or mounted to the docking station 500, and
the imaging endoscope assembly's collar element 430c can be
inserted into or matingly engaged with a corresponding receiver or
clip 530c provided by a translation unit 510 associated with the
docking station 500. Once the imaging endoscope assembly's collar
element 430c is securely held by its corresponding clip 530c, the
imaging endoscope assembly's sleeve 452 can be
selectively/selectably longitudinally translated or surged by the
translation unit 510 across a predetermined proximal-distal
distance range, as further detailed below, for instance, in
response to surgeon manipulation of a haptic input device 110a,b or
other control (e.g., a foot pedal) at the master station 100,
and/or endoscopist manipulation of a control element on the
transport endoscope's main body 310 (e.g., where surgeon input can
override endoscopist input directed to longitudinally
translating/surging the imaging endoscope 460).
[0070] With further reference to FIG. 10B, in a manner analogous to
that described above in FIG. 10A, portions of each actuation
assembly 400a,b distal to a corresponding actuation assembly collar
element 430a,b can be inserted into an intended/appropriately
dimensioned port within the main body 310 of the transport
endoscope 300. As a result, each robot arm 410a,b and end effector
420a,b can be fed into and distally advanced along the flexible
elongate shaft 320 toward and to an initial intended, default, or
parked position relative to the flexible elongate shaft's distal
end 321b. The collar element 430a,b carried by each actuation
assembly's outer sleeve/coil 402a,b remains external to the
flexible elongate shaft 320, and in several embodiments external to
the transport endoscope's main body 310, such that each collar
element 430a,b resides a given distance proximate to the port that
received the outer sleeve/coil 402a,b of the actuation assembly
400a,b.
[0071] In a manner analogous to that for the imaging endoscope
assembly 450, each actuation assembly's collar element 430a,b can
be inserted into or matingly engaged with a corresponding receiver
or clip 530a,b provided by the translation unit 510. Once each such
collar element 430a,b is securely retained by its corresponding
clip 530a,b, the translation unit 510 can selectively/selectably
longitudinally translate or surge one or both of the actuation
assemblies 400a,b (e.g., in an independent manner) across a
predetermined proximal-distal distance range, for instance, in
response to surgeon manipulation of one or both haptic input
devices 110a,b at the master station 100.
[0072] FIG. 10C is a schematic illustration showing a
representative translation unit 510 associated with or carried by
the docking station 500, and a representative manner in which the
collar elements 430a-c corresponding to the actuation assemblies
400a,b and the imaging endoscope assembly 450 are retained by
corresponding translation unit clips 530a-c. The translation unit
510 can include an independently adjustable/displaceable
translation stage corresponding to each actuation assembly 400a,b
as well as the imaging endoscope assembly 450. In a representative
implementation, a given translation stage can include or be a ball
screw or a linear actuator configured for providing
longitudinal/surge displacement to a corresponding clip 530 across
a predetermined maximum distance range, in a manner readily
understood by one having ordinary skill in the relevant art.
[0073] FIGS. 11A-11C illustrate a docking mechanism by which the
transport endoscope 300 can be matingly engaged with docking
station 500 in accordance with an embodiment of the present
disclosure. Referring to FIG. 11A-11C, a joint member 540 is formed
on a surface of docking station 500. The joint member 540 comprises
a protrusion 541, a plurality of bumps 542 formed on side surfaces
of the protrusion 541 and a locking lever 543. As shown in FIG.
11A, an endoscopist aligns and engages the transport endoscope's
main body 310 with the joint member 540 in a direction indicated by
arrow 551a. And then, as shown in FIG. 11B, when the endoscopist
rotates the locking lever 543 in the direction of arrow 551b, the
transport endoscope's main body 310 is docked with the joint member
540 of docking station. Also, the endoscopist can release the
transport endoscope 300 by rotating the locking lever 543 in the
direction of arrow 551c and disengaging the transport endoscope 300
in the direction of arrow 551d.
[0074] FIG. 12 shows the docking mechanism of FIGS. 11A-11C in more
detail. As shown in FIG. 12, a joint member 340 of transport
endoscope may comprise a groove 342 for accommodating the docking
station's joint member 540 and slots 344a.about.344d which are
matingly engaged with bumps 542 of joint member of docking station
500. In the embodiment described referring to FIGS. 11A-12 or FIG.
10A, the transport endoscope 300 is engageable with the docking
station 500 from the same direction as the direction from which the
at least one of flexible elongate is matingly engaged with the
translation unit 510.
[0075] FIGS. 13A-13C illustrate a docking mechanism by which the
transport endoscope 300 can be matingly engaged with docking
station 500 in accordance with another embodiment of the present
disclosure. Referring to FIG. 13A-13C, a joint member 550 of
docking station 500 may comprise a slot 551 where the main body 310
of transport endoscope may be inserted and a pair of release
buttons 552 which, when pushed, releases the engagement of the
joint member 550 and the main body 310 of the transport endoscope.
As shown in FIG. 13A-13B, an endoscopist may align and engage the
main body 310 with the joint member 550 of the docking station by
sliding the main body 310 into the slot 551 in a direction of arrow
553a. When a set of release buttons 552 is activated in a direction
of the depicted arrow 553b, the main body 310 may be released from
the docking station 500, in a manner readily understood by one
having ordinary skill in the relevant art.
[0076] FIG. 14 shows an illustration of transport endoscope's main
body 310 for the docking mechanism of FIGS. 13A-13C in accordance
with an embodiment of the present disclosure. As shown FIG. 14, the
joint member 350 of transport endoscope's main body 310 may
comprise clamping member 355 which may accommodate a counterpart
inside slot 551 of joint member 550 in docking station 500 (not
shown). In the embodiment described referring to FIGS. 13A-14, the
transport endoscope is engageable with the docking station from a
direction parallel to the central axis of the flexible elongate
shaft 320, e.g., at the flexible elongate shaft's proximal end
321a.
[0077] FIG. 15 is a schematic illustration showing coupling of each
actuation assembly's instrument input adapter 710a,b to a
corresponding instrument output adapter 610a,b of the motorbox 600
in accordance with an embodiment of the present disclosure. By way
of such adapter-to-adapter coupling, tendons internal to each
actuation assembly's outer sleeve/coil 402a,b can be mechanically
coupled or linked to particular actuators or motors within the
motorbox 600. For any given actuation assembly 400, such tendons
are configured for positioning or maneuvering the robot arm 410a,b
and corresponding end effector 420a,b in accordance with
predetermined DOFs, for instance, in a manner indicated in (a)
International Patent Application No. PCT/SG2013/000408; and/or (b)
International Patent Publication No. WO 2010/138083. Consequently,
each actuation assembly's robot arm 410a,b and end effector 402a,b
can be selectively positioned or manipulated relative to the distal
end 321b of the flexible elongate shaft 320 as a result of the
selective application of tension to the tendons within the
actuation assembly 400a,b by way of one or more actuators/motors
within the motorbox 600 that are associated with robot arm/end
effector position control. Moreover, such adapter-to-adapter
coupling enables the establishment, re-establishment, or
verification of intended, desired, or predetermined tension levels
in the tendons within each actuation assembly 400a,b prior to the
initiation of an endoscopic procedure (e.g., tendon pretension
levels), and in some embodiments on-the-fly establishment or
adjustment of tendon tension levels during an endoscopic procedure.
Furthermore, in various embodiments, such adapter-to-adapter
coupling enables the maintenance of a given or predetermined
tension level (e.g., a predetermined minimum tension level) in
actuator assembly tendons when the instrument input adapter 710a,b
is not engaged with, or disengaged from, the instrument output
adapter 610a,b, as further detailed hereafter.
[0078] Representative Input Adapter and Output Adapter Structures
and Couplings
[0079] FIG. 16 is a perspective cutaway view showing representative
internal portions of an actuation assembly's instrument input
adapter 710 mounted to an instrument output adapter 610 of the
motorbox 600 in accordance with an embodiment of the present
disclosure. FIG. 17 is a corresponding cross sectional illustration
showing representative internal portions of the instrument adapter
710 and instrument output adapter 610 when coupled together or
matingly engaged in accordance with an embodiment of the present
disclosure. FIGS. 18A-18D are cross sectional illustrations showing
representative internal portions of actuation engagement structures
720 provided by the instrument input adapter 710, and the positions
of elements therein, corresponding to various phases of engagement
of the instrument input adapter 710 with and disengagement of the
instrument input adapter 710 from the instrument output adapter 610
in accordance with an embodiment of the present disclosure.
[0080] With reference to FIG. 16, in an embodiment the instrument
input adapter 710 includes a plurality of actuation engagement
structures 720, such as an individual actuation engagement
structure 720 for each motorbox actuator/motor 620 that is
configured for controlling the robot arm/end effector 410, 412 of
the particular actuation assembly 400 with which the instrument
input adapter 710 is associated.
[0081] In certain embodiments, the motorbox 600 includes a single
actuator/motor for controlling each DOF of the robot arm/end
effector 410, 412, in which case the instrument input adapter 710
includes a single actuation engagement structure 720 corresponding
to each such DOF. In such embodiments, any given DOF corresponds to
a single tendon (which resides within its particular sheath).
[0082] In various embodiments, the motorbox 600 includes dual or
paired actuators/motors 620 for controlling each DOF provided by
the actuation assembly's robot arm/end effector 410, 412. In such
embodiments, any given DOF corresponds to a pair of tendons (e.g.,
a first tendon that resides within a first sheath, and a second
tendon that resides within a second sheath). In this case, two
actuators/motors within the motorbox 600 are actuated synchronously
relative to each other such that a given pair of tendons (e.g., the
first tendon and the second tendon) control a given DOF of the
robot arm/end effector 410, 412.
[0083] As a result, the instrument input adapter 710
correspondingly includes a pair of actuation engagement structures
720 corresponding to each robot arm/end effector DOF. In a
representative implementation in which a robot arm/end effector
410, 412 are positionable/manipulable with respect to six DOFs, the
motorbox 600 includes twelve actuators/motors 600a-1 for
controlling this robot arm/end effector 410, 412, and the
instrument input adapter 710 includes twelve actuation engagement
structures 720a-1. The instrument input adapter 710 mounts to the
motorbox 600 such that a particular pair of actuation engagement
structures 720 (e.g., actuation engagement structures 720 disposed
in a side-by-side manner relative to each other along a length of
the instrument input adapter 710) corresponds to and is
mechanically coupled to a counterpart pair of actuators/motors
620a-1 within the motorbox 600 for providing robot arm/end effector
manipulability/positionability with respect to a particular robot
arm/end effector DOF.
[0084] As indicated in FIG. 17 and also FIGS. 18A-18D, in an
embodiment an actuation engagement structure 720 includes (a) a
frame member 722 having a plurality of arm members 723 that support
a frame member platform 724 that defines an upper boundary of the
frame member 722, where the frame member platform 724 is
perpendicular or transverse to such arm members 723; (b) an
elongate input shaft 726 that extends upwardly through a center or
central region of the frame member's platform 724, and downwardly
toward an output disk 626 of the motorbox output adapter 610 such
that it can be engaged thereby, and which is displaceable along a
longitudinal axis (e.g., in a vertical direction parallel to its
length); (c) a drum structure 730 mounted to and circumferentially
disposed around the input shaft 726, which includes (i) a tapered
drum 732 having an upper surface, an outer surface, and a bottom
surface, and (ii) a first ratchet element 734 carried perpendicular
or transverse to the input shaft 726 at a predetermined distance
away from the bottom surface of the drum 732; (d) a resilient
biasing element or spring 728 circumferentially disposed around the
input shaft 726, between an underside of the frame member's
platform 724 and the upper surface of the drum 732; and (e) a
second ratchet element 744 perpendicular or transverse to and
circumferentially disposed around the input shaft 726, and disposed
below the first ratchet element 734 at a predetermined distance
away from the underside of the frame member's platform 724. In
various embodiments, the second ratchet element 744 is positionally
fixed, immovable, or non-displaceable relative to the input shaft
726.
[0085] The drum structure includes a collar portion 733 that
defines a spatial gap between the bottom surface of the drum 732
and an upper surface of the first ratchet element 734. A proximal
end of a tendon can be coupled, linked, or secured to a portion of
the drum structure 730 (e.g., a crimp fixture/abutment carried on
an upper surface of the first ratchet element 734), and the tendon
can be tightly wound around the circumference of the drum
structure's collar portion 733, such that the collar portion 733
carries multiple or many tendon windings thereabout. In a direction
toward its opposite/distal end, the tendon wound about the collar
portion 722 can extend away from the drum structure 730, toward,
into, and along the length of the actuator assembly's outer
sleeve/coil 402, until reaching a given location on the actuator
assembly's robotic arm 410 (e.g., at a particular position relative
to a robotic arm joint or joint element) or end effector 420.
[0086] Rotation of the drum structure 730, or correspondingly
rotation of the input shaft 726, results in further winding of the
tendon about the drum structure's collar portion 733, or partial
unwinding of the tendon from the collar portion 733, depending upon
the direction in which the drum structure 730 is rotated. Winding
of the tendon about the collar portion 733 results in an increase
in tendon tension, and can reduce the length of the tendon that
resides within the actuator assembly's outer sleeve/coil 402; and
unwinding the tendon from the collar portion 733 results in a
decrease in tendon tension, and can increase the length of the
tendon that resides within the actuation assembly's outer
sleeve/coil 402, in a manner readily understood by one having
ordinary skill in the relevant art. Consequently, selective tendon
winding/unwinding facilitates or enables the precise
manipulation/positioning of the robotic arm/end effector 410, 412
relative to a particular DOF.
[0087] More particularly, in an embodiment providing dual motor
control for each DOF, synchronous winding/unwinding of paired
tendons corresponding to a specific DOF, by way of synchronous
rotation of counterpart drum structures 730, results in the
manipulation/positioning of the robotic arm/end effector 410, 412
in accordance with this DOF. Such synchronous drum structure
rotation can selectively/selectably occur by way of a pair of
actuator/motors 620 and corresponding output disks 626 to which
actuation engagement structure input shafts 726 can be rotationally
coupled, as further detailed below.
[0088] When the instrument input adapter 710 is not engaged with or
has been disengaged from the instrument output adapter 610 of the
motorbox 600, an actuation engagement structure's spring 728 biases
or pushes the actuation engagement structure's drum structure 730
downward to a first or default position, such that the first
ratchet element 734 securely matingly engages with the second
ratchet element 744. Such engagement of the first ratchet element
734 with the second ratchet element 744 when the spring 728 biases
the drum structure downward 730 is illustrated in FIG. 18 A. As a
result of such engagement of the first and second ratchet elements
734, 744, the drum structure 730 is prevented from rotating, and
thus the tension in the tendon corresponding to the drum structure
730 is maintained or preserved (e.g., the tension in the tendon
cannot change or appreciably change).
[0089] As indicated above, the actuation engagement structure's
input shaft 726 is displaceable parallel to or along its
longitudinal axis. As the instrument input adapter 710 is mounted
or installed onto the instrument output adapter 610 of the motorbox
600 (e.g., by way of one or more snap-fit couplings), a bottom
surface of a lower plate 728 carried by the input shaft 726 below
the second ratchet element 744 contacts a set of projections
carried by an upper surface of an output disk 628 associated with a
particular actuator/motor 620. Consequently, the spring 728 is
compressed, and the input shaft 726 and the drum structure 730
carried thereby are upwardly displaced such that the distance
between the upper surface of the drum 732 and the underside of the
frame member's platform 724 decreases, as indicated in FIG. 18B.
Such upward displacement of the drum structure 730 causes the first
ratchet element 734 to disengage from the second ratchet element
744. This can correspond to a situation in which the instrument
input adapter 710 is installed or mounted on the instrument output
adapter of the motorbox 600, but the input shaft 726 is not yet
rotationally rotatably/rotationally coupled to with the output disk
626 of the actuator/motor 620.
[0090] During the mounting of the instrument input adapter 710 onto
the instrument output adapter 610 of the motorbox 600, or once the
instrument input adapter 710 is fully/securely mounted onto the
instrument output adapter 610 (e.g., as can be detected by way of a
set of sensors), corresponding to a situation in which the input
shaft 726 and drum structure 730 have been vertically displaced
upward and the first and second ratchet elements have become
disengaged from each other, the actuators/motors 620 within the
motorbox 600 commence an initialization process (e.g., under the
direction of the control unit 800). During the initialization
process, each actuator/motor 620 rotates its corresponding output
disk 628 until the set of projections carried by the output disk
628 catch or matingly engage with counterpart recesses within the
bottom surface of the input shaft's lower plate 728.
[0091] Once the projections carried by the output disk 628 catch or
matingly engage with counterpart recesses formed in the input
shaft's lower plate 728, the input shaft 726 is rotationally
coupled to an intended actuator/motor 620, in a manner illustrated
in FIG. 18C. When such output disk projections and lower plate
recesses are rotationally coupled, the actuator/motor 620 can
selectively precisely control the winding and unwinding of the
tendon about the collar portion 733 of the drum structure 730,
and/or precisely control tendon tension, to thereby
manipulate/position the robotic arm/end effector 410, 412 in an
intended manner in response to surgeon input received at the master
station 100.
[0092] When the instrument input adapter 710 is disengaged,
dismounted, or detached from the instrument output adapter 610,
decompression of the spring 728 pushes the upper surface of the
drum structure 730 downward, such that the first ratchet element
734 matingly engages with the second ratchet element 744 in a
manner illustrated in FIG. 18D. Rotation of the input shaft 726 and
the disc structure 730 are then prevented, and tendon tension is
thus maintained in a manner essentially identical or analogous to
that described above in relation to FIG. 18A.
[0093] Aspects of particular embodiments of the present disclosure
address at least one aspect, problem, limitation, and/or
disadvantage associated with exiting master-slave flexible robotic
endoscopy systems and devices. While features, aspects, and/or
advantages associated with certain embodiments have been described
in the disclosure, other embodiments may also exhibit such
features, aspects, and/or advantages, and not all embodiments need
necessarily exhibit such features, aspects, and/or advantages to
fall within the scope of the disclosure. It will be appreciated by
a person of ordinary skill in the art that several of the
above-disclosed systems, components, processes, or alternatives
thereof, may be desirably combined into other different systems,
components, processes, and/or applications. In addition, various
modifications, alterations, and/or improvements may be made to
various embodiments that are disclosed by a person of ordinary
skill in the art within the scope of the present disclosure.
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