U.S. patent application number 17/484843 was filed with the patent office on 2022-01-13 for robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems.
The applicant listed for this patent is Bio-Medical Engineering (HK) Limited. Invention is credited to Chung-Kwong Yeung.
Application Number | 20220008150 17/484843 |
Document ID | / |
Family ID | 1000005865873 |
Filed Date | 2022-01-13 |
United States Patent
Application |
20220008150 |
Kind Code |
A1 |
Yeung; Chung-Kwong |
January 13, 2022 |
Robotic Devices And Systems For Performing Single Incision
Procedures And Natural Orifice Translumenal Endoscopic Surgical
Procedures, And Methods Of Configuring Robotic Devices And
Systems
Abstract
Example embodiments relate to systems for performing a surgical
action. The system includes an instrument assembly transitionable
between insertion and non-insertion configurations. Instrument
assembly includes an instrument arm having a shoulder section,
first and second arm sections, wrist section, and end effector
section. A second end of the securing portion is secured to a first
end of the shoulder section. Instrument assembly is in the
insertion configuration when: the shoulder section, first arm
section, second arm section, and end effector section are arranged
along a central axis; and a distance between the end effector
section and second end of the securing portion is greater than a
distance between the shoulder section and second end of the
securing portion. Instrument assembly is in the non-insertion
configuration when the shoulder section, first arm section, second
arm section, and/or end effector section are not arranged along the
central axis.
Inventors: |
Yeung; Chung-Kwong; (Hong
Kong SAR, CN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Bio-Medical Engineering (HK) Limited |
Hong Kong SAR |
|
CN |
|
|
Family ID: |
1000005865873 |
Appl. No.: |
17/484843 |
Filed: |
September 24, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16028982 |
Jul 6, 2018 |
11154367 |
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17484843 |
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15044895 |
Feb 16, 2016 |
11090123 |
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16028982 |
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14693207 |
Apr 22, 2015 |
11154183 |
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15044895 |
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61982717 |
Apr 22, 2014 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B 1/00154 20130101;
Y10S 901/27 20130101; A61B 2017/3445 20130101; A61B 1/0051
20130101; A61B 2017/345 20130101; A61B 1/00147 20130101; Y10S
901/02 20130101; A61B 1/0055 20130101; A61B 1/008 20130101; A61B
17/3421 20130101; A61B 34/76 20160201; A61B 34/30 20160201; A61B
2034/305 20160201; A61B 2017/00283 20130101; A61B 1/3132 20130101;
A61B 34/37 20160201 |
International
Class: |
A61B 34/30 20060101
A61B034/30; A61B 34/37 20060101 A61B034/37; A61B 34/00 20060101
A61B034/00; A61B 17/34 20060101 A61B017/34; A61B 1/00 20060101
A61B001/00; A61B 1/005 20060101 A61B001/005; A61B 1/008 20060101
A61B001/008 |
Claims
1. A surgical system comprising: an instrument arm assembly, the
instrument arm assembly transitionable between an insertion
configuration and a non-insertion configuration, the instrument arm
assembly having: an instrument arm, the instrument arm having a
serially connected arrangement of: a shoulder section, the shoulder
section having a first end and a second end; a first arm section,
the first arm section having a first end and a second end; a
shoulder joint, the shoulder joint connecting the second end of the
shoulder section to the first end of the first arm section, the
shoulder joint configured to pivot the first arm section relative
to the shoulder joint; an elbow section, the elbow section having a
first end and a second end, the first end of the elbow section
secured to the second end of the first arm section, the elbow
section configured to pivot a second arm section relative to the
elbow section; the second arm section, the second arm section
having a first end and a second end, the first end of the second
arm section secured to the second end of the elbow section; a wrist
section, the wrist section having a first end and a second end, the
first end of the wrist section secured to the second end of the
second arm section, the wrist section configured to pivot an end
effector section relative to the wrist section; and the end
effector section, the end effector section secured to the second
end of the wrist section, the end effector section having an end
effector; and a securing portion, the securing portion being an
elongated member having a first end and a second end, the second
end opposite to the first end, the second end of the securing
portion secured to the first end of the shoulder section; wherein
the instrument arm assembly is in the insertion configuration when:
the shoulder section, the first arm section, the second arm
section, and the end effector section are coaxially arranged along
a common central axis, the common central axis being an axis that
is parallel to a central axis formed through the securing portion;
and a distance between the end effector section and the first end
of the securing portion is greater than a distance between the
shoulder section and the first end of the securing portion; wherein
the instrument arm assembly is in the non-insertion configuration
when: at least one of the shoulder section, the first arm section,
the second arm section, and the end effector section are not
coaxially arranged along the common central axis.
2. The surgical system of claim 1, further comprising: a port
assembly, the port assembly having a proximal end, a distal end,
and a central access channel; wherein the central access channel is
formed through the port assembly between the proximal and distal
ends of the port assembly.
3. The surgical system of claim 2, wherein a length of the securing
portion is greater than a sum of a length of the port assembly and
a collective length of the serially connected arrangement of the
shoulder section, the first arm section, the elbow section, the
second arm section, the wrist section, and the end effector
section.
4. The surgical system of claim 1, wherein a length of the securing
portion is greater than or equal to a length of the serially
connected arrangement of the shoulder section, the first arm
section, the elbow section, the second arm section, the wrist
section, and the end effector section.
5. The surgical system of claim 1, wherein at least a portion of
the shoulder section is configured to secure the instrument arm
assembly to the port assembly.
6. The surgical system of claim 1, wherein at least a portion of
the securing portion is configured to secure the instrument arm
assembly to the port assembly.
7. The surgical system of claim 1, wherein the shoulder section and
the securing portion are configured to cooperate to secure the
instrument arm assembly to the port assembly.
8. The surgical system of claim 1, wherein the insertion
configuration is a configuration in which a line drawn from the
first end of the shoulder section to the second end of the shoulder
section is a line that points towards the first end of the securing
portion.
9. The surgical system of claim 2, wherein the insertion
configuration is a configuration in which the instrument arm
assembly, when secured to the port assembly, is arranged to be
parallel to a central axis of the port assembly and point towards
the proximal end of the port assembly.
10. The surgical system of claim 2, wherein the first end of the
securing portion is for use to guide the instrument arm assembly
through the port assembly.
11. The surgical system of claim 2, wherein the central access
channel of the port assembly includes a groove for housing at least
a portion of the securing portion of the instrument arm
assembly.
12. The surgical system of claim 11, wherein the groove in the
central access channel of the port assembly is configured in such a
way as to receive the securing portion of the instrument arm
assembly and persistently maintain an orientation of the securing
portion of the instrument arm assembly to be parallel to the port
assembly.
13. The surgical system of claim 1, wherein the instrument arm is
configured to provide at least 7 degrees of freedom.
14. The surgical system of claim 13, wherein the instrument arm
includes at least one integrated motor to achieve each degree of
freedom.
15. The surgical system of claim 1, wherein the shoulder section is
configured to provide at least two degrees of freedom; and wherein
the shoulder section is configurable to move in such a way as to
transition the instrument arm assembly between a forward-directed
position and a reverse-directed position.
16. The surgical system of claim 1, further comprising: a
controller, the controller configured to communicate with and
control at least one of the following: the securing portion; the
shoulder section; the elbow section; the wrist section; and the end
effector section.
17. The surgical system of claim 2, further comprising: an external
anchor assembly securable to a fixedly positioned object, the
external anchor assembly configurable to secure to the proximal end
of the port assembly, the external anchor assembly configurable to
provide at least 3 degrees of freedom.
18. A surgical system comprising: a port assembly, the port
assembly having a proximal end, a distal end, and a central access
channel, the central access channel formed through the port
assembly between the proximal and distal ends of the port assembly;
and an instrument arm assembly, the instrument arm assembly having:
an instrument arm, the instrument arm configured to be inserted
through the central access channel, the instrument arm
transitionable between an insertion configuration and a
non-insertion configuration, the instrument arm having a serially
connected arrangement of: a shoulder section, the shoulder section
having a first end and a second end; a first arm section, the first
arm section having a first end and a second end; a shoulder joint,
the shoulder joint connecting the second end of the shoulder
section to the first end of the first arm section, the shoulder
joint configured to pivot the first arm section relative to the
shoulder joint; an elbow section, the elbow section having a first
end and a second end, the first end of the elbow section secured to
the second end of the first arm section, the elbow section
configured to pivot a second arm section relative to the elbow
section; the second arm section, the second arm section having a
first end and a second end, the first end of the second arm section
secured to the second end of the elbow section; a wrist section,
the wrist section having a first end and a second end, the first
end of the wrist section secured to the second end of the second
arm section, the wrist section configured to pivot an end effector
section relative to the wrist section; and the end effector
section, the end effector section secured to the second end of the
wrist section, the end effector section having an end effector; and
a securing portion, the securing portion being an elongated member
having a first end and a second end, wherein the second end of the
securing portion is secured to the first end of the shoulder
section; wherein the instrument arm assembly is in the insertion
configuration when: the shoulder section, first arm section,
shoulder joint section, elbow section, second arm section, wrist
section, and end effector section are coaxially arranged along a
first central axis, the first central axis being an axis that is
parallel to a central axis formed through the securing portion;
wherein the instrument arm assembly is in the non-insertion
configuration when: at least one of the shoulder section, first arm
section, shoulder joint section, elbow section, second arm section,
wrist section, and end effector section are not coaxially arranged
along the first central axis.
19. The surgical system of claim 18, wherein the instrument arm
assembly is in the insertion configuration when a distance between
the end effector section and the second end of the securing portion
is greater than a distance between the shoulder section and the
second end of the securing portion.
20. The surgical system of claim 18, wherein a length of the
securing portion is greater than or equal to a length of the
serially connected arrangement of the shoulder section, first arm
section, elbow section, second arm section, wrist section, and end
effector section.
21. The surgical system of claim 18, wherein a length of the
securing portion is greater than a sum of a length of the port
assembly and a collective length of the serially connected
arrangement of the shoulder section, first arm section, elbow
section, second arm section, wrist section, and end effector
section.
22. The surgical system of claim 18, wherein at least a portion of
the shoulder section is configured to secure the instrument arm
assembly to the port assembly.
23. The surgical system of claim 18, wherein at least a portion of
the securing portion is configured to secure the instrument arm
assembly to the port assembly.
24. The surgical system of claim 18, wherein the shoulder section
and the securing portion are configured to cooperate to secure the
instrument arm assembly to the port assembly.
25. The surgical system of claim 18, wherein the insertion
configuration is a configuration in which a line drawn from the
first end of the shoulder section to the second end of the shoulder
section is a line that points towards the first end of the securing
portion.
26. The surgical system of claim 18, wherein the insertion
configuration is a configuration in which the instrument arm
assembly, when secured to the port assembly, is arranged to be
parallel to a central axis of the port assembly and point towards
the proximal end of the port assembly.
27. The surgical system of claim 18, wherein the central access
channel of the port assembly includes a groove for housing at least
a portion of the securing portion of the instrument arm
assembly.
28. The surgical system of claim 27, wherein the groove in the
central access channel of the port assembly is configured in such a
way as to receive the securing portion of the instrument arm
assembly and persistently maintain an orientation of the securing
portion of the instrument arm assembly to be parallel to the port
assembly.
29. The surgical system of claim 18, wherein the instrument arm is
configured to provide at least 7 degrees of freedom.
30. The surgical system of claim 29, wherein the instrument arm
includes at least one integrated motor to achieve each degree of
freedom.
31. The surgical system of claim 18, wherein the shoulder section
is configured to provide at least two degrees of freedom; and
wherein, when the shoulder section is secured to the port assembly,
the shoulder section is configured to move in such a way as to
transition the instrument arm assembly between a forward-directed
position and a reverse-directed position.
32. The surgical system of claim 18, further comprising: a
controller, the controller configured to communicate with and
control at least one of the following: the securing portion; the
shoulder section; the elbow section; the wrist section; and the end
effector section.
33. The surgical system of claim 18, further comprising: an
external anchor assembly securable to a fixedly positioned object,
the external anchor assembly configurable to secure to the proximal
end of the port assembly, the external anchor assembly configurable
to provide at least 3 degrees of freedom.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. application Ser.
No. 16/028,982 (filed on Jul. 6, 2018), which is a continuation of
U.S. application Ser. No. 15/044,895 (which is a
continuation-in-part of U.S. application Ser. No. 14/693,207, filed
on Apr. 22, 2015, which claims priority to U.S. Provisional
Application No. 61/982,717, filed on Apr. 22, 2014), the contents
of all of which are hereby expressly incorporated by reference in
their entirety, including the contents and teachings of any
references contained therein.
BACKGROUND
[0002] The present disclosure relates generally to systems,
devices, and methods, and more specifically, relates to systems,
devices, and methods for use in performing procedures via a single
incision or a natural orifice.
[0003] Conventional surgical procedures will generally require one
or more large incisions to a patient in order for the surgical team
to perform a surgical action. With the advancement of medical
science and technology, most conventional open surgical procedures
have been largely replaced with minimally invasive surgery (MIS)
procedures. Recent developments in respect to computer-assisted
and/or robotic surgical technology have contributed to advancements
in MIS, including the ability to translate a surgeon's desired
actions into movements of robotic instruments inside the body
cavity of a patient.
BRIEF SUMMARY
[0004] Despite recent developments in modern medical science and
technology, it is recognized in the present disclosure that one or
more problems are encountered in modern surgical technology and
methodology. For example, a typical MIS procedure requires multiple
incisions to a patient in order to allow access via the incisions
for the insertion of a camera and various other laparoscopic
instruments into the body cavity of the patient.
[0005] As another example, surgical robotic devices oftentimes
encounter difficulties during surgical procedures due to
insufficient anchoring and/or reactive forces to stabilize against
forces that are desired and/or necessary to be applied during
surgical actions.
[0006] It is also recognized in the present disclosure that
surgical robotic systems face difficulties in providing an
instrument, such as a cutting or gripping instrument attached to
the end of a surgical robotic arm, with access to all or even most
parts, areas, and/or quadrants of abdominal cavity of a patient.
That is, after the surgical robotic arm is inserted in the
abdominal cavity of the patient and ready to perform a surgical
action, the instrument attached to the end of the surgical robotic
arm is typically limited to access only certain parts, areas, and
quadrants of the abdominal cavity of the patient.
[0007] In yet another example, known surgical robotic systems
typically provide only between one to two surgical robotic arms per
access or opening (such as an incision or a natural orifice) of the
patient. In this regard, one or more additional incisions will be
required for the insertion of a camera and various laparoscopic
instruments into the abdominal cavity of the patient.
[0008] As another example, while known surgical robotic systems
have been designed for use in an abdominal cavity of a patient to
perform forward-directed surgical procedures, such systems have not
been designed for and may encounter problems when applied in
situations requiring reverse-directed surgical procedures. For
example, such known surgical robotic systems have not been designed
for deployment through a natural orifice, such as a rectum or
vagina, for performing natural orifice transluminal endoscopic
surgery (or NOTES), such as pelvic gynecological and/or urological
procedures. Such systems may encounter one or more problems, such
as the inability to access certain organs, tissues, or other
surgical sites upon insertion into the natural orifice.
[0009] Present example embodiments relate generally to systems,
devices, and methods for addressing one or more problems in
surgical robotic systems, devices, and methods, including those
described above and herein.
[0010] In an exemplary embodiment, a surgical system is described.
The surgical system includes an instrument arm assembly. The
instrument arm assembly is transitionable between an insertion
configuration and a non-insertion configuration. The instrument arm
assembly includes an instrument arm and a securing portion. The
instrument arm includes a serially connected arrangement of a
shoulder section, a first arm section, a shoulder joint, an elbow
section, a second arm section, a wrist section, and an end effector
section. The shoulder section includes a first end and a second
end. The first arm section includes a first end and a second end.
The shoulder joint connects the second end of the shoulder section
to the first end of the first arm section. The shoulder joint is
configured to pivot the first arm section relative to the shoulder
joint. The elbow section includes a first end and a second end. The
first end of the elbow section is secured to the second end of the
first arm section. The elbow section is configured to pivot a
second arm section relative to the elbow section. The second arm
section includes a first end and a second end. The first end of the
second arm section is secured to the second end of the elbow
section. The wrist section includes a first end and a second end.
The first end of the wrist section is secured to the second end of
the second arm section. The wrist section is configured to pivot an
end effector section relative to the wrist section. The end
effector section is secured to the second end of the wrist section.
The end effector section includes an end effector. The securing
portion includes an elongated member having a first end and a
second end. The second end of the securing portion is secured to
the first end of the shoulder section. The instrument arm assembly
is in the insertion configuration when (1) the shoulder section,
the first arm section, the second arm section, and the end effector
section are coaxially arranged along a common central axis, the
common central axis being an axis that is parallel to a central
axis formed through the securing portion, and (2) a distance
between the end effector section and the first end of the securing
portion is greater than a distance between the shoulder section and
the first end of the securing portion. The instrument arm assembly
is in the non-insertion configuration when at least one of the
shoulder section, the first arm section, the second arm section,
and the end effector section are not coaxially arranged along the
common central axis.
[0011] In another exemplary embodiment, a surgical system is
described. The system includes a port assembly and an instrument
arm assembly. The port assembly includes a proximal end, a distal
end, and a central access channel. The central access channel is
formed through the port assembly between the proximal and distal
ends of the port assembly. The instrument arm assembly includes an
instrument arm and a securing portion. The instrument arm is
configured to be inserted through the central access channel. The
instrument arm is transitionable between an insertion configuration
and a non-insertion configuration. The instrument arm includes a
serially connected arrangement of a shoulder section, first arm
section, shoulder joint, elbow section, second arm section, wrist
section, and end effector section. The shoulder section includes a
first end and a second end. The first arm section includes a first
end and a second end. The shoulder joint connects the second end of
the shoulder section to the first end of the first arm section. The
shoulder joint is configured to pivot the first arm section
relative to the shoulder joint. The elbow section includes a first
end and a second end. The first end of the elbow section is secured
to the second end of the first arm section. The elbow section is
configured to pivot a second arm section relative to the elbow
section. The second arm section includes a first end and a second
end. The first end of the second arm section is secured to the
second end of the elbow section. The wrist section includes a first
end and a second end. The first end of the wrist section is secured
to the second end of the second arm section. The wrist section is
configured to pivot an end effector section relative to the wrist
section. The end effector section is secured to the second end of
the wrist section. The end effector section includes an end
effector. The securing portion includes an elongated member having
a first end and a second end. The second end of the securing
portion is secured to the first end of the shoulder section. The
instrument arm assembly is in the insertion configuration when the
shoulder section, first arm section, shoulder joint section, elbow
section, second arm section, wrist section, and end effector
section are coaxially arranged along a first central axis. The
first central axis is an axis that is parallel to a central axis
formed through the securing portion. The instrument arm assembly is
in the non-insertion configuration when at least one of the
shoulder section, first arm section, shoulder joint section, elbow
section, second arm section, wrist section, and end effector
section are not coaxially arranged along the first central
axis.
[0012] In another exemplary embodiment, a surgical system is
described. The surgical system may include a port assembly and
instrument arm assembly. The port assembly may include a proximal
end, a distal end, a central access channel formed through the port
assembly between the proximal and distal ends of the port assembly,
and a plurality of anchor ports formed at the distal end of the
port assembly. The instrument arm assembly may be configurable to
be inserted through the central access channel of the port assembly
and secured to one of the anchor ports of the port assembly in a
reverse-directed configuration. The instrument arm assembly may
include an instrument arm and a securing portion. The instrument
arm may include a serially connected arrangement of a shoulder
section having a proximal end and a distal end, a first arm section
having a proximal end and a distal end, an elbow section having a
proximal end and a distal end, a second arm section having a
proximal end and a distal end, a wrist section having a proximal
end and a distal end, and an end effector section having an end
effector. The distal end of the first arm section may be secured to
the proximal end of the shoulder section. The distal end of the
elbow section may be secured to the proximal end of the first arm
section. The distal end of the second arm section may be secured to
the proximal end of the elbow section. The distal end of the wrist
section may be secured to the proximal end of the second arm
section. The end effector section may be secured to the proximal
end of the wrist section. The securing portion may be an elongated
member having a proximal end and a distal end. The distal end of
the securing portion may be securable to the distal end of the
shoulder section. The proximal end of the securing portion may be
for use to guide the instrument arm assembly through the central
access channel of the port assembly.
[0013] In another exemplary embodiment, a surgical system is
described. The surgical system may include a port assembly and an
instrument arm assembly. The port assembly may include a proximal
end, a distal end, a central access channel formed through the port
assembly between the proximal and distal ends of the port assembly,
and a plurality of anchor ports formed at the distal end of the
port assembly. The instrument arm assembly may be configurable to
be inserted through the central access channel of the port
assembly. The instrument arm assembly may be configurable to be
secured to one of the anchor ports of the port assembly in a
reverse-directed configuration. The instrument arm assembly may
include an instrument arm and a securing portion. The instrument
arm may include a serially connected arrangement of a shoulder
section, a first arm section secured to the shoulder section, an
elbow section secured to the first arm section, a second arm
section secured to the elbow section, a wrist section secured to
the second arm section, and an end effector section secured to the
wrist section. The end effector section may include an end
effector. The securing portion may be secured to the shoulder
section. The securing portion may be an elongated member having a
length greater than a collective length of the serially connected
arrangement of the shoulder section, first arm section, elbow
section, second arm section, wrist section, and end effector
section. The reverse-directed configuration may be a configuration
wherein the instrument arm can be arranged to be parallel to and
also point towards the proximal end of the port assembly when the
instrument arm assembly is secured to one of the anchor ports of
the port assembly.
[0014] In another exemplary embodiment, a surgical system is
described. The surgical system may comprise a port assembly and an
instrument arm assembly. The port assembly may be an elongated
structure and having a first end section and a second end section.
The first end section may include a first end channel and a first
gate assembly. The first gate assembly may be configurable to
transition between an open position to allow access through the
first end channel and a closed position to prevent access through
the first end channel. The second end section may include a second
end channel, a second gate assembly, and an anchor port. The second
end channel may be substantially aligned with the first end
channel. The second gate assembly may be configurable to transition
between an open position to allow access through the second end
channel and a closed position to prevent access through the second
end channel. The instrument arm assembly may include a shoulder
section securable to the anchor port of the second end section, a
first arm section secured to the shoulder section, an elbow section
secured to the first arm section, a second arm section secured to
the elbow section, a wrist section secured to the second arm
section, and an end effector section secured to the wrist section.
The end effector section may include an end effector.
[0015] In another exemplary embodiment, a port assembly is
described. The port assembly may be for use in a surgical system.
The surgical system may include one or more instrument arm
assemblies for performing a surgical action. The port assembly may
comprise a first end section and a second end section. The first
end section includes a first end channel and a first gate assembly.
The first gate assembly may be configurable to transition between
an open position to allow access through the first end channel and
a closed position to prevent access through the first end channel.
The second end section may include a second end channel, a second
gate assembly, and an anchor port. The second end channel may be
substantially aligned with the first end channel. The second gate
assembly may be configurable to transition between an open position
to allow access through the second end channel and a closed
position to prevent access through the second end channel. The
anchor port may be configurable to be securable to one of the
instrument arm assembly. The first end section may be configurable
to secure to an external anchor. The first end channel and second
end channel may be operable to cooperate with the first gate
assembly and second gate assembly to allow and not allow access of
the instrument arm assembly through the port assembly.
[0016] In another exemplary embodiment, a method of configuring a
surgical system is described. The method may include providing a
port assembly. The port assembly may be an elongated structure and
having a first end section and a second end section. The first end
section may include a first end channel and a first gate assembly.
The first gate assembly may be configurable to transition between
an open position to allow access through the first end channel and
a closed position to prevent access through the first end channel.
The second end section may include a second end channel, a second
gate assembly, and an anchor port. The second end channel may be
substantially aligned with the first end channel. The second gate
assembly may be configurable to transition between an open position
to allow access through the second end channel and a closed
position to prevent access through the second end channel. The
method may further include providing an instrument arm assembly.
The instrument arm assembly may comprise a shoulder section at a
first end of the instrument arm assembly, a first arm section
secured to the shoulder section, an elbow section secured to the
first arm section, a second arm section secured to the elbow
section, a wrist section secured to the second arm section, and an
end effector section at a second end of the instrument arm assembly
opposite to the first end of the instrument arm assembly. The end
effector section may be secured to the wrist section. The end
effector section may include an end effector. The method may
further include inserting at least a portion of the second end
section of the port assembly into a cavity of a patient. The method
may further include securing a position of the port assembly by
securing the first end section of the port assembly to an external
anchor. The external anchor may be secured to a fixedly positioned
object. The method may further include configuring at least one of
the first gate assembly and the second gate assembly to be in the
closed position so as to block at least one of the first end
channel and the second end channel, respectively. The method may
further include performing an insufflation of the cavity of the
patient. The method may further include configuring the first gate
assembly to be in the open position and the second gate assembly to
be in the closed position. The method may further include inserting
the instrument arm assembly through the first end channel. The
method may further include configuring the first gate assembly to
be in the closed position after the instrument arm assembly is
inserted through the first gate assembly. The method may further
include configuring the second gate assembly to be in the open
position. The method may further include inserting the instrument
arm assembly through the second gate assembly. The method may
further include configuring the second gate assembly to be in the
closed position after the instrument arm assembly has passed
through the second gate assembly. The method may further include
securing the shoulder section of the instrument arm assembly to one
of the plurality of anchor ports of the port assembly.
BRIEF DESCRIPTION OF THE DRAWINGS
[0017] For a more complete understanding of the present disclosure,
example embodiments, and their advantages, reference is now made to
the following description taken in conjunction with the
accompanying drawings, in which like reference numbers indicate
like features, and:
[0018] FIG. 1A is illustration of a perspective view of an example
embodiment of an external anchor;
[0019] FIG. 1B is another illustration of a perspective view of an
example embodiment of an external anchor attached to an example
embodiment of a port assembly;
[0020] FIG. 2A is an illustration of a perspective view of an
example embodiment of a surgical device configured in a
reverse-directed position with one port assembly, one instrument
arm assembly, and one image capturing assembly;
[0021] FIG. 2B is an illustration of a perspective view of an
example embodiment of a surgical device configured in a
forward-directed position with one port assembly, one instrument
arm assembly, and one image capturing assembly;
[0022] FIG. 3A is another illustration of a perspective view of
another example embodiment of a surgical device configured in a
reverse-directed position with one port assembly, one instrument
arm assembly, and one image capturing assembly;
[0023] FIG. 3B is another illustration of a perspective view of
another example embodiment of a surgical device configured in a
forward-directed position with one port assembly, one instrument
arm assembly, and one image capturing assembly;
[0024] FIG. 4A is an illustration of a perspective exploded view of
an example embodiment of a port assembly;
[0025] FIG. 4B is an illustration of a side view of an example
embodiment of a port assembly;
[0026] FIG. 4C is an illustration of a cross-sectional view of an
example embodiment of a port assembly with a first or second gate
assembly in the open position;
[0027] FIG. 4D is an illustration of a cross-sectional view of an
example embodiment of a port assembly with a first or second gate
assembly in the closed position;
[0028] FIG. 5A is an illustration of a side view of an example
embodiment of an instrument arm assembly;
[0029] FIG. 5B is another illustration of a side view of an example
embodiment of an instrument arm assembly;
[0030] FIG. 6A is an illustration of a perspective view of an
example embodiment of an image capturing assembly;
[0031] FIG. 6B is an illustration of a cross sectional view of
another example embodiment of an image capturing assembly having an
internal temperature control assembly;
[0032] FIG. 6C is an illustration of perspective views of another
example embodiment of an image capturing assembly having internal
temperature control assemblies;
[0033] FIG. 6D is an illustration of a perspective view of the
system in operation in a cavity of a patient, including a second
image capturing assembly;
[0034] FIG. 7 is a flow diagram of an exemplary method for
configuring a surgical device;
[0035] FIGS. 8A-E are illustrations of a side view of an example
embodiment of a method of configuring a surgical device in a
forward-directed position;
[0036] FIGS. 8F-K are illustrations of a side view of an example
embodiment of a method of configuring a surgical device in a
reverse-directed position;
[0037] FIG. 9A is an illustration of a perspective view of an
example embodiment of a surgical device system;
[0038] FIG. 9B is an illustration of a perspective view of another
example embodiment of a surgical device system;
[0039] FIG. 10A is an illustration of a perspective view of an
example embodiment of an external anchor; and
[0040] FIG. 10B is an illustration of a perspective view of another
example embodiment of an external anchor.
[0041] Although similar reference numbers may be used to refer to
similar elements in the figures for convenience, it can be
appreciated that each of the various example embodiments may be
considered to be distinct variations.
DETAILED DESCRIPTION
[0042] Example embodiments will now be described with reference to
the accompanying drawings, which form a part of the present
disclosure, and which illustrate example embodiments which may be
practiced. As used in the present disclosure and the appended
claims, the terms "example embodiment," "exemplary embodiment," and
"present embodiment" do not necessarily refer to a single
embodiment, although they may, and various example embodiments may
be readily combined and/or interchanged without departing from the
scope or spirit of example embodiments. Furthermore, the
terminology as used in the present disclosure and the appended
claims is for the purpose of describing example embodiments only
and is not intended to be limitations. In this respect, as used in
the present disclosure and the appended claims, the term "in" may
include "in" and "on," and the terms "a," "an" and "the" may
include singular and plural references. Furthermore, as used in the
present disclosure and the appended claims, the term "by" may also
mean "from," depending on the context. Furthermore, as used in the
present disclosure and the appended claims, the term "if" may also
mean "when" or "upon," depending on the context. Furthermore, as
used in the present disclosure and the appended claims, the words
"and/or" may refer to and encompass any and all possible
combinations of one or more of the associated listed items.
[0043] It is recognized in the present disclosure that, despite
recent developments in medical science and technology, one or more
problems are encountered in modern surgical technology and
methodology, including MIS. For example, a typical MIS procedure
requires multiple incisions to a patient in order to allow access
via the incisions for the insertion of a camera and various other
laparoscopic instruments into the body cavity of the patient.
[0044] In addition to the aforementioned disadvantages pertaining
to the multiple and rather large incisions, it is recognized in the
present disclosure that surgical robotic systems, including
surgical robotic arms (and those instruments attached to them),
developed for performing robotic-assisted MIS surgical procedures
also suffer from one or more problems. For example, it is
recognized herein that a major technical challenge for a surgical
robotic system is the difficulty in providing sufficient anchoring
and/or reactive forces to stabilize against forces that are desired
and/or necessary to be applied to the patient by the surgical
robotic system during a surgical action. In this regard, certain
surgical actions for known surgical robotic systems may require
tremendous effort and time, and may not be performed properly or at
all as a result of the problem of insufficient anchoring and/or
reactive forces.
[0045] Another example of a problem recognized in the present
disclosure as being encountered by surgical robotic systems is the
difficulty in providing an instrument, such as a cutting and/or
gripping instrument attached to the end of a surgical robotic arm,
with access to all or even most parts, areas, and quadrants of an
abdominal cavity of a patient after the surgical robotic system has
been set up (or installed) and is ready to perform a surgery. That
is, after the surgical robotic arm of the system has been inserted,
attached, and properly set up in the abdominal cavity of the
patient and is ready to perform a surgical action, the instrument
attached to the end of the surgical robotic arm is typically
limited to access only certain parts, areas, and quadrants of the
abdominal cavity of the patient. It is recognized in the present
disclosure that such problems result in large from the limited
number of possible degrees of freedom that can be provided by known
surgical robotic systems and arms, and more specifically, the
limited number of in vivo degrees of freedom (i.e. the degrees of
freedom provided within an abdominal cavity of a patient) of known
surgical robotic systems and arms. In this regard, surgical robotic
systems typically provide only between 2 to 4 in vivo degrees of
freedom for each surgical robotic arm.
[0046] As another example, while known surgical robotic systems
have been designed for use in an abdominal cavity of a patient to
perform forward-directed surgical procedures, such systems have not
been designed for and may encounter problems when applied in
situations requiring reverse-directed surgical procedures. For
example, such known surgical robotic systems have not been designed
for deployment through a natural orifice, such as a rectum or
vagina, for performing natural orifice transluminal endoscopic
surgery (or NOTES), such as trans-vaginal gynecological procedures
in women and trans-rectal urological procedures in men. Such
systems may encounter one or more problems, such as the inability
to access certain organs, tissues, or other surgical sites upon
insertion into the natural orifice.
[0047] Surgical systems, devices, and methods, including those for
use in MIS and natural orifice transluminal endoscopic surgery (or
NOTES), are described in the present disclosure for addressing one
or more problems of known surgical systems, devices, and methods,
including those described above and in the present disclosure. It
is to be understood that the principles described in the present
disclosure can be applied outside of the context of MIS and/or
NOTES, such as performing scientific experiments and/or procedures
in environments that are not readily accessible by humans,
including in a vacuum, in outer space, and/or under toxic and/or
dangerous conditions, without departing from the teachings of the
present disclosure.
[0048] The Surgical System (e.g., Surgical Device 200)
[0049] An illustration of an example embodiment of a surgical
device or system (e.g., surgical device or system 200) operable to
be inserted into an abdominal cavity of a patient through a single
access or opening (e.g., a single incision (such as an incision in
or around the umbilical area) or through a natural orifice (such as
a rectum or vagina, for performing natural orifice transluminal
endoscopic surgery (or NOTES), hereinafter referred to as an
"opening") of the patient is depicted in FIG. 2A and FIG. 2B. The
surgical device may then be anchored so as to position the surgical
device 200 in the opening. The surgical device 200 may comprise a
port assembly 210 and an instrument arm assembly 230. The surgical
device 200 may also comprise other elements, such as one or more
other instrument arm assemblies, one or more image capturing
assemblies, one or more assistant arm assemblies, etc.
[0050] As illustrated in FIG. 1A and FIG. 1B, the surgical device
200 may be provided with an external anchor 1 attachable to the
port assembly 210. The external anchor 1 may comprise a
configurable assembly of segments 2, 6, 10, and 14 in communication
with one another via joints or connecting portions 4, 8, and 12,
and external anchor connector 16. The external anchor 1 may be
operable to securely fix the position and/or orientation
(hereinafter "position") of the port assembly 210 in or about the
single opening of the patient, and may also be operable to provide
sufficient anchoring and/or reactive forces to stabilize against
forces desired and/or necessary to be applied by at least one or
more elements of the surgical device 200, including the instrument
arm assembly 230, during a surgical action or procedure. The
external anchor 1, which may also be in the form of the
controllable swivel assembly 1000 illustrated in FIG. 10A and FIG.
10B, may be operable to cooperate with the port assembly 210 to
provide one or more in vitro degrees of freedom. For example, the
external anchor 1 may be configurable to provide 3 in vitro degrees
of freedom. In example embodiments, the one or more in vitro
degrees of freedom may include a torsional movement, pivotal
movement, telescopic movement, and/or other movements of the port
assembly 210 relative to the external anchor 1. For example, a
torsional movement of the port assembly 210, as illustrated by
arrow A in FIG. 1B, may allow one or more attached instruments,
including an instrument arm assembly 230, to re-position during a
surgical procedure (i.e. after set up or installation) so as to
access other parts, areas, and/or all quadrants of the abdominal
cavity of the patient. As another example, a pivotal movement of
the port assembly 210, as illustrated by arrow B in FIG. 1B, may
allow the port assembly 210 to be positioned in one of a plurality
of angles with respect to opening of the patient, and may also
allow attached instruments, including the instrument arm assembly
230, to re-position during a surgical procedure (i.e. after set up
or installation) so as to access distal areas of the abdominal
cavity of the patient. The other joint portions of the external
anchor 1 may also be operable to cooperate and/or assist in desired
movements of the port assembly 210. The external anchor 1 may be
anchored to one or more stationary or fixedly positioned objects,
such as a side rail 300 of a surgical table/bed illustrated in FIG.
1A. FIGS. 10A and 10B illustrate other example movements that
provide for additional in vitro degrees of freedom via an example
embodiment of the external anchor (controllable swivel assembly)
1000. The controllable swivel assembly 1000 will be further
described below in at least the section "(1) Providing the external
anchor and installing the port assembly."
[0051] The surgical device 200 may further comprise one or more
additional instrument arm assemblies, such as a second instrument
arm assembly 240 illustrated in FIGS. 3A and 3B, attachable to the
port assembly 210. One or more of the instrument arm assemblies,
including the first instrument arm assembly 230, the second
instrument arm assembly 240, a third instrument arm assembly (not
shown), a fourth instrument arm assembly (not shown), etc., may be
attachable or securable to the port assembly 210. Such instrument
arm assemblies may be operable to access and perform one or more
surgical actions in/on any and all parts, areas, and/or quadrants
within a cavity of the patient. For example, surgical device 200
may be configurable to perform surgical actions in a forward
direction (or "forward-directed position" or "forward position")
(e.g., as illustrated in FIGS. 2B and 3B). As another example,
surgical device 200 may be configurable to perform surgical actions
in a reverse direction (or "reverse-directed position" or "reverse
position") (e.g., as illustrated in FIGS. 2A and 3A).
[0052] The surgical device 200 may also comprise one or more image
capturing assemblies, such as image capturing assembly 220. The
surgical device 200 may further comprise one or more assistant arm
assemblies, such as a retractor arm assembly 250, as illustrated in
FIGS. 2A, 2B, 3A, and 3B. Furthermore, the surgical device 200 may
comprise one or more other instrument arm assemblies, such as
suction/irrigation assembly 260, illustrated in FIGS. 2A, 2B, 3A,
and 3B, that can be inserted into the opening of the patient via
the port assembly 210 before, during, and/or after performing a
surgical action or procedure. It is to be understood in the present
disclosure that the surgical device 200 may be configurable in a
plurality of configurations and arrangements, including having more
or less than two instrument arm assemblies (such as third, fourth,
fifth, etc. instrument arm assemblies), more than one image
capturing assembly (such as second, third, etc. image capturing
assemblies), more or less than one assistant arm assembly (such as
second, third, etc. assistant arm assemblies), and/or more or less
than one other laparoscopic tool in example embodiments without
departing from the teachings of the present disclosure.
[0053] The Port Assembly (e.g., Port Assembly 210)
[0054] An example embodiment of the port assembly (e.g., port
assembly 210) is illustrated in FIGS. 2A, 2B, 3A, 3B, FIG. 4A, FIG.
4B, FIG. 4C, and FIG. 4D. The port assembly 210 may be configurable
to be inserted in or about a single opening of the patient (such as
a single incision or a natural orifice) and fixed in position by at
least the external anchor (such as the external anchor 1
illustrated in FIGS. 1A and 1B and the controllable swivel assembly
1000 illustrated in FIGS. 10A and 10B).
[0055] The port assembly 210 may be an elongated structure having a
central access channel 210a formed through the port assembly 210.
The central access channel 210a may be for use in inserting and
removing instruments, such as one or more instrument arm assemblies
230, 240, one or more image capturing assemblies 220, one or more
assistant arm assemblies 250, 260, etc. In an example embodiment,
the port assembly 210 may include a first end section 212 and a
second end section 214. The first end section 212 and second end
section 214 may be fixably attachable to one another or formed as a
unitary article. The port assembly 210 may also include a mid
section 213 between the first end section 212 and the second end
section 214. The first end section 212, second end section 214, and
mid section 213 may be fixably attachable to one another, as
illustrated in FIGS. 4A and 4B, or two or more of these sections
may be formed as a unitary article. In an example embodiment, the
first end section 212 may be the portion of the port assembly 210
that is secured to the external anchor 1, and the port assembly 210
may be fixed in position at an angle .theta. relative to the singe
opening of the patient of between about 0 to +/-90 degrees. These
and other elements of the port assembly 210 will now be described
below and with reference to FIGS. 2A, 2B, 3A, 3B, and 4A-D.
[0056] As illustrated in at least FIGS. 4A and 4B, the port
assembly 210 may comprise a first end section 212. The first end
section 212 may have a first end channel 212a formed through the
first end section 212. The first end channel 212a may be considered
as a part of the central access channel 210a. The first end section
212 may also include a portion operable to be secured to the
external anchor 1, such as a portion on an exterior portion of the
first end section 212.
[0057] The first end section 212 may also include a first gate
assembly 212b, as illustrated in FIGS. 4A, 4C, and 4D. The first
gate assembly 212 may be configurable to control access through the
first end channel 212a. For example, the first gate assembly 212b
may be configurable to be in an open position, as illustrated in
FIG. 4C, so as to allow access through the first end channel 212a.
The first gate assembly 212b may also be configurable to be in a
closed position, as illustrated in FIG. 4D, so as to prevent or
restrict access through the first end channel 212a. The first gate
assembly 212b may also be configurable to be in a partially closed
(or partially opened) position (not shown). The first gate assembly
212b may also be configurable to transition between the closed
position and the open position.
[0058] In an example embodiment, the first gate assembly 212b may
be provided within the first end section 212 in such a way that,
when the first gate assembly 212b is configured to be in the open
position, as illustrated in FIG. 4C, the first end channel 212a is
substantially or completely unobstructed by the first gate assembly
212b. The first gate assembly 212b may be configured to be in the
open position when a surgeon desires to insert (or remove) an
instrument into (or out of) the cavity of the patient via the first
end channel 212a (and the rest of the central access channel
210a).
[0059] Similarly, the first gate assembly 212b may be provided
within the first end section 212 in such a way that, when the first
gate assembly 212b is configured to be in the closed position, as
illustrated in FIG. 4D, the first end channel 212a is substantially
or completely obstructed by the first gate assembly 212b. The first
gate assembly 212b may be configured to be in the closed position
when a surgeon desires to maintain an insufflation of the cavity of
the patient and/or when the surgeon does not need to insert (or
remove) an instrument into (or out of) the cavity of the patient
via the first end channel 212a.
[0060] The first gate assembly 212b may include a first expandable
portion 212b configurable to expand when the first gate assembly
212b is configured to the closed position, as illustrated in FIG.
4D. When the first gate assembly 212b is configured to the closed
position, the first expandable portion 212b may be operable to
substantially or completely block, among other things, a gas medium
(and/or other medium) from passing through the first end channel
212a. For example, if the cavity of the patient is being
insufflated using a gas, such as carbon dioxide (CO.sub.2), the
first gate assembly 212b (i.e., the first expandable portion 212b)
may be configurable to substantially prevent the carbon dioxide gas
from leaving the cavity of the patient through the first end
channel 212a.
[0061] The first expandable portion 212b may include one or more
first expandable members. For example, the first expandable portion
212b may include six expandable members, as illustrated in FIGS. 4C
and 4D. It is to be understood that the first expandable portion
212b may include more or less than six expandable members without
departing from the teachings of the present disclosure. Some or all
of the first expandable members may be integrated together and/or
in communication with one another, such as in a manner where some
or all of the first expandable members are operable to receive
pressure (i.e., gas medium) from a common or same first source
212b'. For example, when the first gate assembly 212b is configured
to the closed position, the first source 212b' may be configurable
to provide a positive pressure (i.e., a supply of gas) so as to
cause some or all of the first expandable members to expand and
block the first end channel 212a (e.g., hermetically block the
first end channel 212a). Similarly, when the first gate assembly
212b is configured to the open position, the first source 212b' may
be configurable to provide a negative pressure (i.e., remove gas)
so as to cause one or more (or all) of the first expandable members
to not expand (and/or contract) and unblock the first end channel
212a. It is to be understood that more than one first sources 212b'
may provide the positive pressure and negative pressure to the one
or more expandable members without departing from the teachings of
the present disclosure.
[0062] It is recognized in the present disclosure that the first
gate assembly 212b may also include a valve (not shown), or the
like, in addition to or in replacement of the first expandable
portion 212b. The valve may be configurable to perform
substantially the same actions of blocking the first end channel
212a when the first gate assembly 212b is configured to the closed
position and unblocking the first end channel 212a when the first
gate assembly 212b is configured to the open position. The valve
may be any type of valve configurable to perform the actions
described above and in the present disclosure. The valve may
include, but is not limited to including, a ball valve, gate valve,
etc., so long as the valve is configurable to substantially
block/unblock the first end channel 212a and prevent a gas medium
from passing through the first end channel 212a.
[0063] The port assembly 210 may also include the second end
section 214, as illustrated in at least FIGS. 4A and 4B. The second
end section 214 may have a second end channel 214a formed through
the second end section 214. The second end channel 214a may be
substantially or completely aligned with the first end channel
212a. The second end channel 214a, as well as the first end channel
212a, may be considered as a part of the central access channel
210a in example embodiments. The second end section 214 may also
include an insufflation port (not shown) for use in providing
insufflation to the cavity of the patient.
[0064] The second end section 214 may also include a second gate
assembly 214, as illustrated in FIGS. 4A, 4C, and 4D. The second
gate assembly 214 may be configurable to control access through the
second end channel 214a. For example, the second gate assembly 214b
may be configurable to be in an open position, as illustrated in
FIG. 4C, so as to allow access through the second end channel 214a.
The second gate assembly 214b may also be configurable to be in a
closed position, as illustrated in FIG. 4D, so as to prevent or
restrict access through the second end channel 214a. The second
gate assembly 214b may also be configurable to be in a partially
closed (or partially opened) position (not shown). The second gate
assembly 214b may also be configurable to transition between the
closed position and the open position.
[0065] In an example embodiment, the second gate assembly 214b may
be provided within the second end section 212 in such a way that,
when the second gate assembly 214b is configured to be in the open
position, as illustrated in FIG. 4C, the second end channel 214a is
substantially or completely unobstructed by the second gate
assembly 214b. The second gate assembly 214b may be configured to
be in the open position when a surgeon desires to insert (or
remove) an instrument into (or out of) the cavity of the patient
via the second end channel 214a (and the rest of the central access
channel 210a).
[0066] Similarly, the second gate assembly 214b may be provided
within the second end section 214 in such a way that, when the
second gate assembly 214b is configured to be in the closed
position, as illustrated in FIG. 4D, the second end channel 214a is
substantially or completely obstructed by the second gate assembly
214b. The second gate assembly 214b may be configured to be in the
closed position when a surgeon desires to maintain an insufflation
of the cavity of the patient and/or when the surgeon does not need
to insert (or remove) an instrument into (or out of) the cavity of
the patient via the second end channel 214a.
[0067] The second gate assembly 214b may include a second
expandable portion 214b configurable to expand when the second gate
assembly 214b is configured to the closed position, as illustrated
in FIG. 4D. When the second gate assembly 214b is configured to the
closed position, the second expandable portion 214b may be operable
to substantially or completely block, among other things, a gas
medium (and/or other medium) from passing through the second end
channel 214a. For example, if the cavity of the patient is being
insufflated using a gas, such as carbon dioxide (CO.sub.2), the
second gate assembly 214b (i.e., the second expandable portion
214b) may be configurable to substantially prevent the carbon
dioxide gas from leaving the cavity of the patient through the
second end channel 214a.
[0068] The second expandable portion 214b may include one or more
second expandable members. For example, the second expandable
portion may include six expandable members, as illustrated in FIGS.
4C and 4D. It is to be understood that the second expandable
portion 214b may include more or less than six expandable members
without departing from the teachings of the present disclosure.
Some or all of the second expandable members may be integrated
together and/or in communication with one another, such as in a
manner where some or all of the second expandable members are
operable to receive pressure (i.e., gas medium) from a common or
same second source 214b'. For example, when the second gate
assembly 214b is configured to the closed position, the second
source 214b' may be configurable to provide a positive pressure
(i.e., a supply of gas) so as to cause some or all of the second
expandable members to expand and block the second end channel 214a
(e.g., hermetically block the second end channel 214a). Similarly,
when the second gate assembly 214b is configured to the open
position, the second source 214b' may be configurable to provide a
negative pressure (i.e., remove gas) so as to cause some or all of
the second expandable members to not expand (and/or contract) and
unblock the second end channel 214a. It is to be understood that
more than one second sources 214b' may provide the positive
pressure and negative pressure to the one or more expandable
members without departing from the teachings of the present
disclosure. It is also to be understood in the present disclosure
that one or more of the first sources 212b' and one or more of the
second sources 214b' may be the same or different sources.
[0069] It is recognized in the present disclosure that the second
gate assembly 214b may also include a valve (not shown), or the
like, in addition to or in replacement of the second expandable
portion 214b. The valve may be configurable to perform
substantially the same actions of blocking the second end channel
214a when the second gate assembly 214b is configured to the closed
position and unblocking the second end channel 214a when the second
gate assembly 214b is configured to the open position. The valve
may be any type of valve configurable to perform the actions
described above and in the present disclosure. The valve may
include, but is not limited to including, a ball valve, gate valve,
etc., so long as the valve is configurable to substantially
block/unblock the second end channel 214a and prevent a gas medium
from passing through the second end channel 214a.
[0070] The second end section 214 may also include one or more
anchor ports 216, as illustrated in FIGS. 4A and 4B. Each of the
anchor ports 216 may be operable to enable an instrument arm
assembly 230 or 240, image capturing assembly 220, and/or assistant
arm assemblies 250 or 260 to be secured to and unsecured from the
port assembly 210. Each of the anchor ports 216 may be formed in
any one or more of a plurality of shapes, holes, slots,
indentations, protrusions, hooks, fasteners, magnets, buckles, or
the like, including those described above and in the present
disclosure. For example, as illustrated in FIGS. 4A and 4B, one or
more of the anchor ports 216 may include one or more slots, or the
like, operable to allow a shoulder section 231 of an instrument arm
assembly 230 or 240 to be inserted into and attached.
[0071] In example embodiments, the port assembly 210 may also
include the mid section 213, as illustrated in at least FIGS. 4A
and 4B. The mid section 213 may have a mid section channel 213a
formed through the mid section 213. The mid section channel 213a
may be substantially or completely aligned with the first end
channel 212a and/or the second end channel 214a. In this regard,
the mid section channel 213a, as well as the first end channel 212a
and/or the second end channel 214a, may be considered as a part of
the central access channel 210a in example embodiments. The mid
section 213 may also include an insufflation port (not shown) in
addition to or in replacement of the insufflation port (not shown)
of the second end section 214. In some example embodiments, the mid
section 213 may also include a mid section gate assembly (not
shown) similar to that of the first gate assembly 212 and second
gate assembly 214 described above and in the present
disclosure.
[0072] In example embodiments, the mid section channel 213a may be
operable to cooperate with the first gate assembly 212b and the
second gate assembly 214b to function as or like an isolation
chamber for instruments, such as the instrument arm assembly 230 or
240, image capturing assembly 220, assistant arm assembly 250 or
260, etc. For example, when an instrument, such as the instrument
arm assembly 230, needs to be inserted into the cavity of the
patient via the port assembly 210 (or central access channel 210a)
and an insufflation of the cavity of the patient needs to be
maintained, the first gate assembly 212b may be configured to the
open position to allow the instrument to be inserted into the mid
section channel 213a. After the instrument (or most of it) passes
through the first gate assembly 212b, the first gate assembly 212b
may be configured to the closed position. The second gate assembly
214b may then be configured to the open position to allow the
instrument to be further inserted through the port assembly 210.
After the instrument (or most of it) passes through the second gate
assembly 214b, the second gate assembly 214b may be configured to
the closed position.
[0073] In respect to the central access channel 210a, the central
access channel 210a may include or be formed by the first end
channel 212a, the second end channel 214a, and/or the mid section
channel 213a. The central access channel 210a may be operable to
provide an access port (i.e. a passageway or channel) to allow an
insertion (or removal) of one or more instruments, such as one or
more instrument arm assemblies 230 or 240, one or more image
capturing assemblies 220, one or more assistant arm assemblies 250
or 260, etc.
[0074] In an example embodiment, the first end section 212, the
second end 214, and/or the mid section 213 may be substantially
cylindrical in shape. The first end section 212, the second end
section 214, and/or the mid section 213 may also be formed in any
one of a plurality of other shapes, sizes, and/or dimensions
without departing from the teachings of the present disclosure.
[0075] In example embodiments, an outer diameter of the first end
section 212, the second end 214, and/or the mid section 213 may be
between about 28 to 35 mm and an inner diameter (unblocked) of the
first end section 212, the second end 214, and/or the mid section
213 may be between about 16 to 21 mm. In an example embodiment, the
outer diameter of the first end section 212, the second end 214,
and/or the mid section 213 may be about 33 mm and the inner
diameter (unblocked) of the first end section 212, the second end
214, and/or the mid section 213 may be about 19 mm. The length of
the first end section 212 may be between about 80 to 100 mm, the
length of the second end section 214 may be between about 80 to 200
mm, and the length of the mid section 213 may be between about 60
to 80 mm. The overall length of the port assembly 210 may be
between about 320 to 380 mm. It is to be understood in the present
disclosure that the above dimensions are merely an illustration of
example embodiments, and as such the dimensions may be smaller or
larger than those recited above without departing from the
teachings of the present disclosure.
[0076] The port assembly 210, including the first end section 212,
the second end section 214, the mid section 213, and/or the anchor
ports 216, may be formed using any one or more of a plurality of
materials, such as surgical-grade metals, high-strength aluminum
alloys, stainless steel (such as 304/304L, 316/316L, and 420), pure
titanium, titanium alloys (such as Ti6Al4V, NiTi), and
cobalt-chromium alloys. The first gate assembly 212b and the second
gate assembly 214b may be formed using any one or more of a
plurality of materials, such as bio-compatible materials (such as
silicone rubber and polyurethane). It is to be understood in the
present disclosure that other materials may also be used without
departing from the teachings of the present disclosure. It is to be
understood in the present disclosure that the above materials are
merely an illustration of example embodiments, and these and other
materials and compositions may be used without departing from the
teachings of the present disclosure.
[0077] The Image Capturing Assembly (e.g., Image Capturing Assembly
220)
[0078] In an example embodiment, the surgical device 200 may
comprise one or more image capturing assemblies (e.g., image
capturing assembly 220) configurable to be inserted into and attach
to the port assembly 210. One or more of the image capturing
assemblies 220 may comprise at an image capturing body 224, a
multi-curvable body 222, and an anchoring portion 220a.
[0079] As illustrated in FIG. 6A, the image capturing body 224 may
include one or more cameras 227. Each camera 227 may include a
standard and/or high definition 2-dimensional (2D) and/or
3-dimensional (3D) camera operable to capture imaging, such as 2D
and/or stereoscopic and/or autostereoscopic 3D imaging, including
images, video, and/or audio, and provide in real-time via wired
and/or wireless communication the captured imaging, including
images, video, and/or audio, to the computing device (or controller
or system) of one or more nearby and/or remotely located surgical
teams 904, as described above and in the present disclosure. The
computing device (or controller or system) may comprise one or more
processors, one or more computer-human interfaces, one or more
graphical displays (such as computer screens, television screens,
portable devices, wearable devices such as glasses, etc.), and/or
other devices and/or systems, an example of which is illustrated in
FIGS. 9A and 9B. The one or more nearby and/or remotely located
surgical teams 904 may be operable to view, hear, sense, analyze,
and control (such as pan, zoom, process, adapt, mark, change
resolution, etc.) the imaging displayed or represented on one or
more standard and/or high definition 2D and/or 3D graphical
displays 902, such as shown in the illustration of FIGS. 9A and 9B,
and/or portable and/or wearable devices adapted to receive 2D
and/or 3D imaging (not shown). The image capturing body 224 may
also comprise one or more illumination sources 229, such as an LED,
or the like, operable to illuminate or sense at least one or more
parts, sections, and/or quadrants of the cavity of the patient,
including instruments provided in the cavity of the patient. The
image capturing body 224 may further comprise one or more internal
temperature control assemblies operable to control (such as reduce)
the temperature of one or more components of the image capturing
body 224.
[0080] As illustrated in the example embodiment of FIG. 6A, one or
more of the image capturing assemblies 220 may comprise a
multi-curvable body 222 attached to the image capturing body 224.
The multi-curvable body 222 may be any elongated multi-curvable,
multi-bendable, multi-articulable, and/or snake-like (hereinafter
"multi-curvable") body that can be controlled/configured by the
surgical team (such as via the computing device/controller) to,
among other things, straighten and/or curve (and hold such a
straightness and/or curvature) at one or more of a plurality of
locations along the multi-curvable body 222, curve (and hold such a
curvature) in one or more of a plurality of curvatures, and/or
straighten and/or curve (and hold such a straightness and/or
curvature) in one or more of a plurality of directions. For
example, as illustrated in FIG. 8H, the multi-curvable body 222 may
be controllable/configurable by the surgical team (such as via the
computing device/controller) to curve at two different locations
222a and 222b along the multi-curvable body 222, and each of the
curves may include any curvature and in any direction. It is to be
understood that the multi-curvable body 222 may be configurable to
curve in more or less than two locations along the multi-curvable
body 222 without departing from the teachings of the present
disclosure. It is also to be understood that, when the
multi-curvable body 222 is configured to curve at any location
along the multi-curvable body 222, the curve may be held and/or
released (or configured to uncurve, curve less, or straighten) by
the surgical team (such as via the computing
device/controller).
[0081] The multi-curvable body 222 may be formed in any one or more
ways known in the art including. For example, the multi-curvable
body 222 may include a plurality of segments, each segment linked
to an adjacent segment in such a way that the segment may be
controlled/configured to be pivotally positioned in a plurality of
positions relative to the adjacent segment. As another example, the
multi-curvable body 222 may include a plurality of wires, cables,
or the like, distributed throughout the multi-curvable body 222 in
such a way that a pulling/releasing, shortening/lengthening,
tightening/loosening, etc. of one or a combination of cables
enables the above-mentioned curving of one or more locations of the
multi-curvable body 222 in one or more curvatures and in one or
more directions. As another example, the multi-curvable body 222
may include a plurality of springs, gears, motors, etc. for
achieving the above-mentioned curving. It is to be understood in
the present disclosure that the multi-curvable body 222 may also
include a combination of one or more of the above-mentioned
approaches.
[0082] One or more internal temperature control assemblies (not
shown) may be provided for each image capturing assembly 220. Each
internal temperature control assembly may be operable to control
(such as reduce) the temperature and/or heat emission of the
aforementioned camera(s) 227, illumination source(s) 229, and/or
multi-curvable body 222. In an example embodiment, the one or more
internal temperature control assemblies may be operable to perform
such temperature control using one or more gases, liquids, and/or
solids. For example, the gases and/or liquids may be fed,
maintained, and/or regulated using an external source via one or
more tubes, or the like. The one or more tubes used to provide,
regulate, and/or discharge the gases and/or liquids may have a
diameter between about 0.5 mm to 3 mm in example embodiments, but
the dimensions of such tubes may also be more or less. It is to be
understood in the present disclosure that the one or more tubes (if
used), as well as any solids (if used), may be provided through an
interior of the image capturing assembly 220 without increasing
dimensions (such as diameter) of the image capturing assembly 220
and/or affecting the controllability/configurability of the
multi-curvable body 222.
[0083] When the internal temperature control assembly utilizes
gases, or the like, example embodiments may also be operable to
provide such gases into the body cavity and/or discharge or recycle
such gases outside of the body cavity via one or more tubes, or the
like. The gases may comprise carbon dioxide, oxygen, and/or other
gases in example embodiments. Such gases may be further operable to
assist in providing and/or maintaining insufflation of the cavity
of the patient during a surgical procedure. When the internal
temperature control assembly utilizes liquids, or the like, example
embodiments may be operable to discharge or recycle such liquids
outside of the body cavity. When the internal temperature control
assembly utilizes solids, or the like, such solids may possess
properties that enable the surgical team to change the temperature
of the solids, such as by applying electricity or other form of
energy, so as to control (such as reduce) the temperature and/or
heat emission of one or more components of the image capturing
assembly 220. In example embodiments, the internal temperature
control assembly may utilize a combination of gases, liquids,
solids, and/or the like without departing from the teachings of the
present disclosure.
[0084] The image capturing assembly 220 may be secured to the port
assembly 210 in one or more of a plurality of ways, including those
described above and in the present disclosure for the instrument
arm assemblies 230 or 240 and/or the assistant arm assemblies 250
or 260. For example, the image capturing assembly 220 may also
comprise an anchoring portion 220a (e.g., similar to the securing
portion 231a of the instrument arm assembly 220) operable to attach
(or secure) the image capturing assembly 220 to one or more anchor
ports 216 of the port assembly 210.
[0085] In an example embodiment, the image capturing body 224 and
the multi-curvable body 222 may each be substantially cylindrical
in shape. The image capturing body 224 and the multi-curvable body
222 may also be formed in any one of a plurality of other shapes,
sizes, and/or dimensions without departing from the teachings of
the present disclosure.
[0086] In an example embodiment, the length of the multi-curvable
body 222 may be between about 50 to 150 mm. In example embodiments,
a length of multi-curvable body 222 may also be adjustable by the
surgical team 904 before, during, and/or after insertion of the
camera arm assembly into the cavity of the patient. The outer
diameter of the multi-curvable body 222 may be between about 5 to 7
mm. It is to be understood in the present disclosure that the above
dimensions are merely an illustration of example embodiments, and
as such the dimensions may be smaller or larger than those recited
above without departing from the teachings of the present
disclosure.
[0087] The multi-curvable body 222 may be formed using any one or
more of a plurality of materials, such as stainless steel, etc. It
is to be understood in the present disclosure that other materials
may also be used without departing from the teachings of the
present disclosure. It is to be understood in the present
disclosure that the above materials are merely an illustration of
example embodiments, and these and other materials and compositions
may be used without departing from the teachings of the present
disclosure.
[0088] As illustrated in FIG. 6B and FIG. 6C, the image capturing
assembly 220 may further comprise a gas shield 228 located nearby
one or more lenses of the camera 227. The image capturing assembly
220 may further comprise a gas shield 228 located nearby one or
more of the illumination sources 229 and/or any other sensors (such
as temperature sensors, pressure sensors, humidity sensors, etc.)
provided by the image capturing assembly 220. The gas shield 228
may comprise one or more openings or the like, one or more external
gas sources 228, and one or more tubes, channels, or the like,
between the one or more external gas sources and the one or more
openings of the gas shield 228. In operation, the gas shield 228
may be operable to provide pressurized gases (and/or liquids), such
as carbon dioxide, oxygen, other gases or liquids, or combinations
thereof, via the one or more openings of the gas shield 228 to an
area in front of the camera 227 (as well as in front of the
illumination sources 229 and/or other sensors).
[0089] The overall system may also include one or more separate
image capturing assemblies, such as the separate image capturing
assembly 320 illustrated in FIG. 6D. The separate image capturing
assembly 320 may be magnetically anchored by a magnetic anchor 310
to an internal wall of the cavity of the patient, such as via a
permanent magnet, electromagnet, or the like. In some example
embodiments, the magnetic anchor 310 may also be secured/held in
position via an external anchor (not shown). The separate image
capturing assembly 320 may include one or more cameras 327, and may
also include one or more illumination sources 329.
[0090] The separate image capturing assembly 320 may be operable to
provide one or more of a variety of views, including, but not
limited to, a normal view, zoomed view, wide-angled view, and/or
panoramic view of the cavity of the patient. The separate image
capturing assembly 320 may be positioned in such a way as to
provide the surgical team 904 with an unobstructed view of areas of
interest within the cavity of the patient. In respect to
positioning and securing the separate image capturing assembly 320
in place, as illustrated in FIG. 6D, the separate image capturing
assembly 320 may be inserted through the central access channel
210a of the port assembly 210 and to the desired location of the
interior wall of the cavity of the patient in one or more of a
plurality of ways, including using a surgical tool (not shown),
attaching the separate image capturing assembly 320 to a
multi-curvable body (not shown) similar to that of the image
capturing assembly 220 (as illustrated in FIGS. 2A, 2B, 3A, 3B, and
6D), etc.
[0091] The Instrument Arm Assembly (e.g., Instrument Arm Assembly
230, 240)
[0092] In an example embodiment, the surgical device 200 may
comprise one or more instrument arm assemblies (e.g., first
instrument arm assembly 230, second instrument arm assembly 240,
third instrument arm assembly (not shown), fourth instrument arm
assembly (not shown), etc.), each configurable to attach to the
port assembly 210.
[0093] One or more of the instrument arm assemblies (such as 230,
240) may comprise a configurable serial (or linear) arrangement of
a plurality of instrument arm segments and joint portions, and at
least one end instrument (or end effector) 239 integrated into
and/or connected to one or more of the instrument arm segments
and/or joint portions. The end effector 239 may be any instrument
suitable for use in surgical procedures, such as a cutting and/or
gripping instrument. One or more of the instrument arm assemblies
(such as 230, 240) may also comprise one or more illumination
sources (not shown), such as an LED, or the like, operable to
illuminate one or more parts of the end effector 239, instrument
arm assemblies, and/or parts, sections, and/or quadrants of the
abdominal cavity of the patient.
[0094] One or more of the instrument arm assemblies (such as 230,
240) may also comprise one or more integrated motors operable to
provide at least one degree of freedom for the instrument arm
assembly. One or more of the instrument arm assemblies may also
include an integrated haptic and/or force feedback subsystem (not
shown) in communication with one or more of the integrated motors
and/or other sensors and/or instruments operable to provide to the
surgical team (such as via computing device/controller) with one or
more of a plurality of feedback responses and/or measurements,
including those pertaining to position (including orientation),
applied force, proximity, temperature, pressure, humidity, etc.,
of, by, and/or nearby to the instrument arm assembly. For example,
the surgical team 904 may be provided with a master input device
having manipulators, or the like, having haptic and/or force
feedback and designed to map and sense the surgical team's 904
delicate finger-twisting, wrist-bending, and/or other arm/shoulder
movements into movements of the instrument arm (such as 230, 240)
with high precision, high dexterity, and minimum burden, while also
providing feedback of contact resistance (such as tissue
resistance).
[0095] When an instrument arm assembly (such as 230, 240) comprises
one or more illumination sources, cameras, haptic and/or force
feedback instruments, and/or other sensors and/or instruments, as
described above and in the present disclosure, the instrument arm
assembly may also comprise a gas shield, such as the gas shield
described above for the image capturing assembly 220. One or more
of the instrument arm assemblies (such as 230, 240) may further
comprise one or more internal temperature control assemblies
operable to control (such as reduce or increase) the temperature of
one or more components of the instrument arm assembly.
[0096] As illustrated in the example embodiment of FIGS. 2A, 2B,
3A, 3B, FIG. 5A, and FIG. 5B, each of the instrument arm
assemblies, including the first instrument arm assembly 230, may
comprise a first instrument arm segment (or shoulder section) 231,
a second instrument arm segment (or first arm section) 233, a third
instrument arm segment (or second arm section) 235, and a fourth
instrument arm segment (or hand section) 237. The instrument arm
assembly 230 may also comprise a first joint portion (or shoulder
joint section) 232, a second joint portion (or elbow section) 234,
a third joint portion (or wrist section) 236, and an end effector
joint portion 238. Each of the aforementioned joint portions may be
configurable, either manually and/or via the computing device (or
system), to provide an attached instrument arm segment (and the end
effector 239) with one or more in vivo degrees of freedom when the
instrument arm assembly is provided in the abdominal cavity of the
patient. For example, the first joint portion (or shoulder joint
section) 232 may be operable to provide the second instrument arm
segment (or first arm section) 233 with one or two degrees of
freedom resembling the one or two degrees of freedom of the human
shoulder. As another example, the second joint portion (or elbow
section) 234 may be operable to provide the third instrument arm
segment (or second arm section) 235 with one or two degrees of
freedom resembling the one or two degrees of freedom of the human
elbow. As another example, the third joint portion (or wrist
section) 236 may be operable to provide the fourth instrument arm
segment (or hand section) 237 with one or two degrees of freedom
resembling the one or two degrees of freedom of the human wrist. As
another example, the end effector joint portion 238 may be operable
to provide the end effector 239 with one or more degrees of
freedom. Accordingly, one or more of the instrument arm assemblies
may be configurable, either manually and/or via the computing
device/controller, to provide seven or more in vivo degrees of
freedom and, together with the at least one to three or more in
vitro degree of freedom provided by the port assembly 210 and the
controllable swivel assembly 1000 (see FIGS. 10A and 10B), the one
or more of the instrument arm assemblies may be configurable,
either manually and/or via the computing device/controller, to
provide a total of eight to ten or more degrees of freedom. It is
recognized herein that the aforementioned at least seven in vivo
degrees of freedom for the instrument arm assembly enables at least
the full range of natural movements by a surgeon's arm (via a
controller/computer-human interface/manipulator/master input
device, such as the example illustrated in FIGS. 9A and 9B) to be
substantially directly mapped and/or translated to the instrument
arm assembly.
[0097] Each joint portion, including joint portions 232, 234, and
236 and instrument joint portion 238 may comprise any one or more
configurations of gears and/or gear assemblies, including straight
gear configurations, planetary gear configurations, beveled gear
configurations, spiral beveled gear configurations, hypoid gear
configurations, helical gear configurations, worm gear
configurations, and/or any other gear configuration without
departing from the teachings of the present disclosure. In example
embodiments, each instrument arm assembly may also comprise one or
more internal integrated motors, or the like, operable to actuate
the gears of each joint portion, including joint portions 232, 234,
and 236 and/or the instrument arm segments 231, 233, 235, and 237.
In this regard, each of the abovementioned integrated motors, joint
portions, and/or instrument arm segments may be operable to
communicate, such as receive control commands and/or transmit
information, from and/or to the computing device/controller of one
or more nearby and/or remotely located surgical teams 904 via wired
and/or wireless communication in example embodiments. Furthermore,
each of the abovementioned integrated motors, joint portions,
and/or instrument arm segments may be operable to receive power
from an external power source and/or the computing
device/controller via wired and/or wireless transmissions in
example embodiments.
[0098] Each of the instrument arm assemblies may be securable to
(and unsecured from) the anchor ports 216 of the port assembly 210
via a securing portion 231a of the shoulder section 231. It is
recognized in the present disclosure that the instrument arm
assembly 230, 240 may be secured to the anchor port 216 of the port
assembly 210 in the forward-directed position (e.g., as illustrated
in FIGS. 2B and 3B) and/or the reverse-directed position (e.g., as
illustrated in FIGS. 2A and 3A). Furthermore, in example
embodiments, the instrument arm assembly 230, 240 may or may not be
transitioned between the forward-directed position and the
reverse-directed position. In example embodiments where the
instrument arm assembly 230, 240 is transitionable between the
forward-directed position and the reverse-directed position, such
transition may be performable before, during, and/or after the
securing of the shoulder section 231 to the anchor port 216 of the
port assembly 210. For example, in such embodiments, the securing
portion 231a may be adjustably changed in position relative to the
shoulder section 231, such as from the forward-directed position
illustrated in FIG. 5A to the reverse-directed position illustrated
in FIG. 5B, and vice versa.
[0099] One or more internal temperature control assemblies (not
shown) may be provided for each of the one or more instrument arm
assemblies 230, 240. Each internal temperature control assembly may
be operable to control (such as reduce) the temperature and/or heat
emission of the aforementioned gears and/or gear assemblies,
motors, instrument joint portions (such as 232, 234, and 236),
and/or instrument arm segments (such as 231, 233, 235, and 237).
The one or more internal temperature control assemblies may also be
operable to control (such as increase or decrease) the temperature
of the end effector 239 (which may be desirable when the end
effector 239 is a cutting tool, or the like). In an example
embodiment, the one or more internal temperature control assemblies
may be operable to perform such temperature control using one or
more gases, liquids, and/or solids. For example, the gases and/or
liquids may be fed, maintained, and/or regulated using an external
source via one or more tubes, or the like. The one or more tubes
used to provide, regulate, and/or discharge the gases and/or
liquids may have a diameter between about 0.5 mm to 3 mm in example
embodiments, but the dimensions of such tubes may also be more or
less. It is to be understood in the present disclosure that the one
or more tubes (if used), as well any solids (if used), may be
provided through an interior of the instrument arm assembly without
increasing dimensions (such as diameter) of the instrument arm
assembly.
[0100] When the internal temperature control assembly utilizes
gases, or the like, example embodiments may also be operable to
provide such gases into the body cavity and/or discharge or recycle
such gases outside of the body cavity via one or more tubes, or the
like. The gases may comprise carbon dioxide, oxygen, and/or other
gases in example embodiments. Such gases may be further operable to
assist in providing and/or maintaining insufflation of the body
cavity, such as via an opening (not shown). When the internal
temperature control assembly utilizes liquids, or the like, example
embodiments may be operable to discharge or recycle such liquids
outside of the body cavity. When the internal temperature control
assembly utilizes solids, or the like, such solids may possess
properties that enable the surgical team to change the temperature
of the solids, such as by applying electricity or other form of
energy, so as to control (such as reduce) the temperature and/or
heat emission of one or more components of the instrument arm
assembly 230, 240.
[0101] In example embodiments, the internal temperature control
assembly may utilize a combination of gases, liquids, solids,
and/or the like without departing from the teachings of the present
disclosure.
[0102] After the instrument arm assembly 230, 240 has been inserted
and attached (or secured) to the port assembly 210, the end
effector 239 may be configurable, either manually and/or via the
computing device (or system), to apply between about 0 to 20 N of
force when performing surgical actions and procedures, such as
clipping and/or grasping actions. Furthermore, the end effector 239
may be configurable, either manually and/or via the computing
device/controller, to apply between about 0 to 10 N of force when
performing other surgical actions and procedures, such as
translational, twisting, pulling, and/or pushing actions. It is to
be understood in the present disclosure that the above range of
applicable force are merely an illustration of example embodiments,
and as such the range of applicable force may be smaller or larger
than those recited above without departing from the teachings of
the present disclosure.
[0103] In an example embodiment, the instrument arm segments,
including the first instrument arm segment 231, the second
instrument arm segment 233, the third instrument arm segment 235,
and/or the fourth instrument arm segment 237, may be substantially
cylindrical in shape. The instrument arm segments, including the
first instrument arm segment 231, the second instrument arm segment
233, the third instrument arm segment 235, and/or the fourth
instrument arm segment 237, may also be formed in any one of a
plurality of other shapes, sizes, and/or dimensions without
departing from the teachings of the present disclosure.
[0104] As described above, the instrument arm assembly 230, 240 may
also include one or more securing portions 231a. The securing
portion 231a may be attachable or attached to the first instrument
arm segment 231, a part of the first instrument arm segment 231,
and/or formed as a unitary article with the first instrument arm
segment 231. Such securing portions 231a may be for use in securing
the instrument arm assembly 230, 240 to the anchor ports 216. Such
securing portions 231a may also be for use in performing or
assisting in performing the process of inserting the instrument arm
assembly 230, 240 into and securing onto the port assembly 210 in
example embodiments.
[0105] After the instrument arm assembly 230 is inserted through
the port assembly 210 and into the cavity of a patient (such as a
vagina or rectum), the securing portion 231a of the first
instrument arm segment (or shoulder section) 231 may be securely
received by the anchor port 216 of the port assembly 210.
[0106] In an example embodiment, the length of the securing portion
231a may be between about 350 to 450 mm, the length of the first
instrument arm segment 231 may be between about 15 to 40 mm, the
length of the second instrument arm segment 233 may be between
about 80 to 105 mm, the length of the third instrument arm segment
235 may be between about 65 to 90 mm, the length of the fourth
instrument arm segment 237 may be between about 5 to 30 mm, and the
overall length of the collective instrument arm may be between
about 165 to 265 mm. In example embodiments, the length of the
securing portion 231a may be between about 340 to 400 mm, the
length of the first instrument arm segment 231 may be between about
15 to 25 mm, the length of the second instrument arm segment 233
may be between about 90 to 100 mm, the length of the third
instrument arm segment 235 may be between about 75 to 85 mm, the
length of the fourth instrument arm segment 237 may be between
about 15 to 25 mm, and the overall length of the collective
instrument arm may be between about 195 to 235 mm. In example
embodiments, a length of one or more of the instrument arm
segments, the securing portion 231a, and/or the end effector 239
may also be adjustable by the computing device (or system) of one
or more nearby and/or remotely located surgical teams 904 before,
during, and/or after insertion of the instrument arm assembly into
the cavity of the patient. The outer diameter of one or more of the
instrument arm segments may be about 10 to 16 mm. In an example
embodiment, the outer diameter of one or more of the instrument arm
segments may be about 16 mm.
[0107] Each of the instrument arm assemblies, including the
securing portion 231a, the first instrument arm segment 231, the
second instrument arm segment 233, the third instrument arm segment
235, the fourth instrument arm segment 237, the end effector 239,
the first joint portion 232, the second joint portion 234, the
third joint portion 236, and/or the instrument joint 238, may be
formed using any one or more of a plurality of materials, such as
surgical-grade metals, high-strength aluminum alloys, stainless
steel (such as 304/304L, 316/316L, and 420), pure titanium,
titanium alloys (such as Ti6Al4V, NiTi), and cobalt-chromium
alloys. It is to be understood in the present disclosure that other
materials may also be used without departing from the teachings of
the present disclosure.
[0108] The Assistant Arm Assemblies (e.g., Assistant Arm Assembly
250, 260)
[0109] In an example embodiment, the surgical device 200 may
comprise one or more assistant arm assemblies (e.g., assistant arm
assembly 250 or 260) configurable to be inserted into and attach to
the port assembly 210. As illustrated in FIGS. 2A, 2B, 3A, and 3B,
one or more of the assistant arm assemblies may be a
suction/irrigation assembly 250 or an assistant instrument arm
assembly such as a retractor arm assembly 260, and each of them may
include a multi-curvable body 252 or 262, respectively, and an
anchoring portion, respectively (e.g., similar to the
multi-curvable body 222 and anchoring portion 220a of the image
capturing assembly 220).
[0110] As illustrated in FIGS. 2A, 2B, 3A, and 3B, the
suction/irrigation assembly 250 may include an end having a suction
port 259 for applying a suction or negative pressure, which may be
for use in removing liquids (e.g., blood, etc.) from the cavity of
the patient. In respect to the assistant instrument arm assembly
260, the assistant instrument arm assembly 260 may include an end
having an instrument 269, such as a gripper, retractor, cutter,
needle, or the like, which may be for use in assisting the one or
more instrument arm assemblies 230 and/or 240 in performing the
surgical action.
[0111] As illustrated in the example embodiment of FIGS. 2A, 2B,
3A, and 3B, the assistant arm assemblies 250 and/or 260 may
comprise a multi-curvable body 252 and/or 262, respectively,
attached to their ends (suction port or instrument, respectively).
The multi-curvable body 252 or 262 may be any elongated
multi-curvable body similar to that of the image capturing assembly
220 described above and in the present disclosure that can be
controlled/configured by the surgical team 904 (such as via the
computing device/controller/manipulator/master input device) to,
among other things, straighten and/or curve (and hold such a
straightness and/or curvature) at one or more of a plurality of
locations along the multi-curvable body 252 or 262, curve (and hold
such a curvature) in one or more of a plurality of curvatures,
and/or straighten and/or curve (and hold such a straightness and/or
curvature) in one or more of a plurality of directions. It is to be
understood that, when the multi-curvable body 252 or 262 is
configured to curve at any location along the multi-curvable body
252 or 262, the curve may be held and/or released (or configured to
uncurve, curve less, or straighten) by the surgical team 904 (such
as via the computing device/controller/manipulator/master input
device).
[0112] The multi-curvable body 252 or 262 may be formed in any one
or more ways known in the art. For example, the multi-curvable body
252 or 262 may be a unitary or substantially unitary elongated body
having a plurality of wires, cables, or the like, distributed/run
throughout the multi-curvable body 252 or 262 in such a way that a
manipulating, such as a pulling/releasing, shortening/lengthening,
tightening/loosening, etc., of one or a combination of such wires,
cables, or the like enables the above-mentioned curving of one or
more locations of the multi-curvable body 252 or 262 in one or more
curvatures and in one or more directions. As another example, the
multi-curvable body 252 or 262 may include a plurality of segments,
each segment linked to an adjacent segment in such a way that the
segment may be controlled/configured to be pivotly positioned in a
plurality of positions relative to the adjacent segment. As another
example, the multi-curvable body 252 or 262 may include a plurality
of springs, gears, motors, etc. for achieving the above-mentioned
curving of one or more locations of the multi-curvable body 252 or
262 in one or more curvatures and in one or more directions. It is
to be understood in the present disclosure that the multi-curvable
body 252 or 262 may also include a combination of one or more of
the above-mentioned approaches.
[0113] The assistant arm assembly 250 or 260 may be secured to the
port assembly 210 in one or more of a plurality of ways, including
those described above and in the present disclosure for the
instrument arm assemblies 230, 240 and/or the image capturing
assembly 220. For example, the assistant arm assembly 250 or 260
may also comprise an anchoring portion (e.g., similar to the
anchoring portion 220a of the image capturing assembly 220 and/or
the securing portion 231a of the instrument arm assembly 220),
respectively, operable to attach (or secure) the assistant arm
assembly 250 or 260 to one or more anchor ports 216 of the port
assembly 210.
[0114] In an example embodiment, the multi-curvable body 252 or 262
may each be substantially cylindrical in shape. The multi-curvable
body 252 or 262 may also be formed in any one of a plurality of
other shapes, sizes, and/or dimensions without departing from the
teachings of the present disclosure.
[0115] In an example embodiment, the length of the multi-curvable
body 252 or 262 may be between about 170 to 270 mm. In example
embodiments, a length of multi-curvable body 252 or 262 may also be
adjustable by the surgical team 904 before, during, and/or after
insertion of the camera arm assembly into the cavity of the
patient. The outer diameter of the multi-curvable body 252 or 262
may be between about 5 to 7 mm. It is to be understood in the
present disclosure that the above dimensions are merely an
illustration of example embodiments, and as such the dimensions may
be smaller or larger than those recited above without departing
from the teachings of the present disclosure.
[0116] Controller
[0117] In example embodiments, the surgical system may include a
controller (or computing device, manipulator, and/or master input
device). The controller may be configurable to perform one or more
of a plurality of operations in and on the surgical system 200. For
example, the controller may be configurable to communicate with
and/or control one or more elements of the surgical system 200,
such as the external anchor 1 or 1000, the port assembly 210, the
instrument arm assemblies 230 or 240, the image capturing assembly
220, and/or the assistant arm assemblies 250 or 260. The controller
may be accessible and/or controllable by the surgical team 904, and
the surgical team may be able to communicate with and/or control
the configuring and/or operation of the one or more elements of the
surgical system 200. For example, the controller may be
configurable to control a movement and action of some or all parts
of the instrument arm assemblies 230 or 240, the first gate
assembly 212b, the second gate assembly 214b, the movement and
action of some or all parts of the image capturing assembly 220
(including the image capturing, temperature control, etc.), the
movement and action of some or all parts of the multi-curvable body
222 of the image capturing assembly 220, the movement and action of
some or all parts of the multi-curvable body 252 or 262 of the
assistant arm assemblies, the movement and action of some or all
parts of the assistant arm assemblies 250 or 260, and the like.
[0118] Method of Setting Up the Surgical Device 200 in a
Forward-Directed Position (e.g., Method 700)
[0119] As illustrated in FIG. 7 and FIGS. 8A-E, example embodiments
of the surgical device 200 may be configurable to perform a
forward-directed surgical action or procedure in one of a plurality
of ways. In an example embodiment, the external anchor 1 may be
provided and installed/anchored to the stationary object. The port
assembly 210 may be provided (e.g., action 702), and the instrument
arm assembly may be provided (e.g., action 704). A second
instrument arm assembly may be provided, as well as the image
capturing assembly 220 and/or 320 and any of the assistant arm
assemblies 250 and/or 260 required. The port assembly 210 may be
inserted (e.g., action 706) into the opening (and cavity) of the
patient and anchored in position using the external anchor 1 (e.g.,
action 708), and a workable volume/space in the cavity may be
formed, such as via insufflation using CO.sub.2 and/or other gases,
vacuum suction tools, and/or retractable hook tools. The
controllable swivel assembly 1000 may also be used in example
embodiments. For example, a workable abdominal cavity of about
10-12 cm in height may be provided for the patient. Thereafter, one
or more image capturing assemblies 220, one or more assistant arm
assemblies (e.g., action 710), and one or more assistant arm
assemblies 250 or 260 (if needed) may be inserted into the port
assembly 210 via the central access channel 210a, secured to the
anchor ports 216, and configured in the cavity of the patient. A
surgical action or procedure may then be performed in any part,
area, and/or quadrant of the cavity of the patient using the
surgical device 200. These processes will now be described below
with references to at least FIGS. 7, 8A-E, 9B, and 10B.
[0120] (1) Providing the External Anchor and Installing the Port
Assembly.
[0121] In an example embodiment, the external anchor 1 may be
provided and installed/anchored to one or more stationary objects,
such as a side rail 300 of a surgical table/bed, as illustrated in
FIGS. 1A and 1B. One or more segments 2, 6, 10, and 14 of the
external anchor 1 may cooperate using one or more joints 4, 8, 12,
and 16 of the external anchor 1 to fix the position (including
orientation) of the port assembly 210 in or about the opening of
the patient.
[0122] In an example embodiment, as illustrated in FIGS. 10A and
10B, the external anchor 1 may comprise a controllable swivel
assembly 1000 operable to provide one or more additional in vitro
degrees of freedom, such as via a first swivel portion 1002, second
swivel portion 1004, and/or third swivel portion 1006. The
controllable swivel assembly 1000 may further comprise a motor
1002a for the first swivel portion 1002, a motor 1004a for the
second swivel portion 1004, a motor 1006a for the third swivel
portion 1006, one or more supporting arms 1008, and one or more
locks 1010.
[0123] The first swivel portion 1002 may be operable to provide, as
one of the in vitro degrees of freedom, a translational movement of
the port assembly 210 along an axis defined by the elongated length
of the port assembly 210, as illustrated by the arrow A. In example
embodiments, the translational movement, as illustrated by arrow A,
provided by the first swivel portion 1002 may be between about 0 to
50 mm.
[0124] The controllable swivel assembly 1000 may further comprise a
second swivel portion 1004 operable to provide, as another one of
the in vitro degrees of freedom, a torsional or rotational movement
of the port assembly 210 about an axis depicted by axis Y. In
example embodiments, the torsional or rotational movement, as
illustrated by the arrow B, provided by the second swivel portion
1004 may be between about +/-180 degrees.
[0125] The controllable swivel assembly 1000 may further comprise a
third swivel portion 1006 operable to provide, as another one of
the in vitro degrees of freedom, a pivotal or rotational movement
of the port assembly 210 about an axis perpendicular to the Y-axis,
such as the axis depicted by axis Z (which comes out of the page).
In example embodiments, the Z-axis or the center of rotation may be
located at about opening of the patient, such as at the mid-point
of the abdominal wall. In example embodiments, the pivotal or
rotational movement, as illustrated by the arrow C, provided by the
third swivel portion 1006 may be between about +/-80 degrees.
[0126] It is recognized in the present disclosure that the
controllable swivel assembly 1000 may comprise the first swivel
portion 1002, second swivel portion 1004, and/or third swivel
portion 1006 in example embodiments. The controllable swivel
assembly 1000 may further comprise other swivel portions (not
shown) when more than three in vitro degrees of freedom and/or
movements/rotations other than those providable by the first swivel
portion 1002, second swivel portion 1004, and third swivel portion
1006 are desired and/or required.
[0127] The controllable swivel assembly 1000, including the first
swivel portion 1002, the second swivel portion 1004, and/or the
third swivel portion 1006, may be controllable either locally or
remotely by the surgical team.
[0128] In an example embodiment, the port assembly 210 may be
installed and secured to the external anchor 1 or 1000. As
illustrated in FIGS. 8A-E, the second end 214 of the port assembly
210 may be inserted into the opening of the patient and into the
cavity of the patient and the first end 212 of the port assembly
210 may be secured to the external anchor 1 or 1000. Thereafter, a
workable volume/space in the cavity may be formed in the cavity of
the patient, such as via insufflation using CO.sub.2 and/or other
gases, vacuum suction tools, and/or retractable hook tools. Before
doing so, the first gate assembly 212b and the second gate assembly
214b may be expanded to the closed position. Insufflation of the
cavity may be achieved in one or more of a plurality of ways. For
example, the insufflation port of the port assembly 210 may be used
to provide the required insufflation.
[0129] (2) Inserting and Attaching the Image Capturing
Assembly.
[0130] After the workable volume/space in the cavity has been
formed and the port assembly 210 is secured in position, as
illustrated in FIG. 8A, the image capturing assembly 220 may be
inserted through the central access channel 210a and secured to the
anchor port 216 of the port assembly 210. To do so while
maintaining the workable volume/space, the first gate assembly 212b
may be configured to the open position while the second gate
assembly 214b is configured to the closed position. Once the first
gate assembly 212b is in the open position, the image capturing
assembly 220 may be inserted into the mid section 213. The first
gate assembly 212b may then be configured to the closed position
after the image capturing assembly 220 passes through the first
gate assembly 212b. The second gate assembly 214b may then be
configured to the open position. It is recognized in the present
disclosure that the workable volume/space in the cavity is
maintained via the insufflation since the first gate assembly 212b
is configured to the closed position. Once the second gate assembly
214b is in the open position, the image capturing assembly 220 may
be inserted into the cavity of the patient and the anchor portion
220a secured to an anchor port 216. The second gate assembly 214b
may then be configured to the closed position after the image
capturing assembly 220 passes through the second gate assembly
214b. The multi-curvable body 222 of the image capturing assembly
220 may then be configured/controlled to curve in one or more
locations along the multi-curvable body 222 so that the image
capturing assembly 220 can be directed in a forward-directed
position (as illustrated in FIGS. 2B and 3B).
[0131] The separate image capturing assembly 320 may also be
inserted through the port assembly 210 in a similar manner as
described above. Once inserted through the port assembly 210 and
into the cavity of the patient, the separate image capturing
assembly 320 may then be attached/secured to the interior wall of
the cavity of the patient via the magnetic anchor 310.
[0132] (3) Inserting and Attaching a First Instrument Arm
Assembly.
[0133] The instrument arm assembly 230 may be inserted through the
central access channel 210a and secured to the anchor port 216 of
the port assembly 210. To do so while maintaining the workable
volume/space, the first gate assembly 212b may again be configured
to the open position while the second gate assembly 214b is
configured to the closed position. Once the first gate assembly
212b is in the open position, the instrument arm assembly 230 may
be inserted into the mid section 213, as illustrated in FIG. 8B.
The first gate assembly 212b may then be configured to the closed
position after the instrument arm assembly 230 passes through the
first gate assembly 212b and into the mid section 213, as
illustrated in FIG. 8C. The second gate assembly 214b may then be
configured to the open position, as illustrated in FIG. 8D. Once
the second gate assembly 214b is in the open position, the
instrument arm assembly 230 may be inserted into the cavity of the
patient and the securing portion 231a secured to an anchor port
216, as illustrated in FIG. 8E. The second gate assembly 214b may
then be configured to the closed position after the instrument arm
assembly 230 passes through the second gate assembly 214b.
[0134] (5) Inserting and Attaching One or More Additional
Instrument Arm Assemblies, One or More Assistant Arm Assemblies,
and/or One or More Additional Camera Arm Assemblies.
[0135] One or more additional instrument arm assemblies 240, one or
more assistant arm assemblies 250 or 260, and/or one or more
additional image capturing assemblies (not shown) may also be
inserted into the port assembly 210 via the central access channel
210a in the same manner as described above for the image capturing
assembly 220 and the instrument arm assembly 230.
[0136] (6) Unattaching and Removing the Instrument Arm Assembly,
Image Capturing Assembly, and Assistant Arm Assemblies.
[0137] The instrument arm assembly 230, image capturing assembly
220, other instrument arm assembly 240 (if provided), other image
capturing assembly (if provided), and the one or more other
assistant arm assemblies 250 or 260 (if provided) may be unattached
(or unsecured) from the anchor ports 216 and removed from the
cavity of the patient via the central access channel 210a of the
port assembly 210 in a substantially reverse manner as described
above for the inserting and attaching.
[0138] Method of Setting Up the Surgical Device 200 in a
Reverse-Directed Position (e.g., Method 700)
[0139] As illustrated in FIGS. 7 and 8F-K, example embodiments of
the surgical device 200 may be configurable to perform a
reverse-directed surgical action or procedure in one of a plurality
of ways. In an example embodiment, the external anchor 1 may be
provided and installed/anchored to the stationary object in a
similar manner as described above and in the present disclosure.
The port assembly 210 may be provided (e.g., action 702), and the
instrument arm assembly may be provided (e.g., action 704). A
second instrument arm assembly may be provided, as well as the
image capturing assembly 220 and/or 320 and any of the assistant
arm assemblies 250 and/or 260 required. The port assembly 210 may
be inserted (e.g., action 706) into the opening (and cavity) of the
patient and anchored in position using the external anchor 1 (e.g.,
action 708), and a workable volume/space in the cavity may be
formed, such as via insufflation using CO.sub.2 and/or other gases,
vacuum suction tools, and/or retractable hook tools. The
controllable swivel assembly 1000 may also be used in example
embodiments. For example, a workable abdominal cavity of about
10-12 cm in height may be provided for the patient. Thereafter, one
or more image capturing assemblies 220, one or more assistant arm
assemblies (e.g., action 710), and one or more assistant arm
assemblies 250 or 260 (if needed) may be inserted into the port
assembly 210 via the central access channel 210a, secured to the
anchor ports 216, and configured in the cavity of the patient. For
the inserting, each of the image capturing assemblies 220,
instrument arm assemblies 230 and/or 240, and assistant arm
assemblies 250 and/or 260 are inserted in reverse orientation as
compared to the forward-directed position described above and in
the present disclosure. A surgical action or procedure may then be
performed in any part, area, and/or quadrant of the cavity of the
patient using the surgical device 200. These processes will now be
described below with references to at least FIGS. 7, 8F-K, 9B, and
10B.
[0140] (1) Providing the External Anchor and Installing the Port
Assembly.
[0141] In an example embodiment, the port assembly 210 may be
installed and secured to the external anchor 1 or 1000. As
illustrated in FIGS. 8A-E, the second end 214 of the port assembly
210 is inserted into the opening of the patient and into the cavity
of the patient and the first end 212 of the port assembly 210 is
secured to the external anchor 1 or 1000. Thereafter, a workable
volume/space in the cavity may be formed in the cavity of the
patient, such as via insufflation using CO.sub.2 and/or other
gases, vacuum suction tools, and/or retractable hook tools. Before
doing so, the first gate assembly 212b and the second gate assembly
214b may be expanded to the closed position. Insufflation of the
cavity may be achieved in one or more of a plurality of ways. For
example, the insufflation port of the port assembly 210 may be used
to provide the required insufflation.
[0142] (2) Inserting and Attaching the Image Capturing
Assembly.
[0143] After the workable volume/space in the cavity has been
formed and the port assembly 210 is secured in position, as
illustrated in FIG. 8F, the image capturing assembly 220 may be
inserted with the image capturing body 224 inserted last through
the central access channel 210a and secured to the anchor port 216
of the port assembly 210. To do so while maintaining the workable
volume/space, the first gate assembly 212b may be configured to the
open position while the second gate assembly 214b is configured to
the closed position. Once the first gate assembly 212b is in the
open position, the image capturing assembly 220 may be inserted
into the mid section 213. The first gate assembly 212b may then be
configured to the closed position after the image capturing
assembly 220 passes through the first gate assembly 212b. The
second gate assembly 214b may then be configured to the open
position. It is recognized in the present disclosure that the
workable volume/space in the cavity is maintained via the
insufflation since the first gate assembly 212b is configured to
the closed position. Once the second gate assembly 214b is in the
open position, the image capturing assembly 220 may be inserted
completely into the cavity of the patient with the image capturing
body 224 being closest to the anchor port 216. The multi-curvable
body 222 of the image capturing assembly 220 may then be
configured/controlled to curve in one or more locations along the
multi-curvable body 222 so that the image capturing assembly 220
can be directed in a reverse-directed position next to the outer
surface of the port assembly 210 (as illustrated in FIGS. 2A and
3A). The image capturing assembly 220 may then be provided adjacent
to the outer surface of the port assembly 210 so that the anchoring
portion 220a of the image capturing assembly 220 is adjacent to the
anchor port 216. The anchoring portion 220a of the image capturing
assembly 220 may then be secured to the anchor port 216. The second
gate assembly 214b may be configured to the closed position after
the image capturing assembly 220 passes through the second gate
assembly 214b.
[0144] The separate image capturing assembly 320 may also be
inserted through the port assembly 210 in a similar manner as
described above. Once inserted through the port assembly 210 and
into the cavity of the patient, the separate image capturing
assembly 320 may then be attached/secured to the interior wall of
the cavity of the patient via the magnetic anchor 310.
[0145] (3) Inserting and Attaching a First Instrument Arm
Assembly.
[0146] To insert the instrument arm assembly 230 through the
central access channel 210a and secure it to the anchor port 216 of
the port assembly 210 while maintaining the workable volume/space,
the first gate assembly 212b may again be configured to the open
position while the second gate assembly 214b is configured to the
closed position. Once the first gate assembly 212b is in the open
position, the instrument arm assembly 230 may be inserted with the
end effector 239 inserted last into the mid section 213, as
illustrated in FIG. 8G. The first gate assembly 212b may then be
configured to the closed position after the instrument arm assembly
230 passes through the first gate assembly 212b and into the mid
section 213, as illustrated in FIG. 8H. The second gate assembly
214b may then be configured to the open position, as illustrated in
FIG. 8I. Once the second gate assembly 214b is in the open
position, the instrument arm assembly 230 may be inserted
completely into the cavity of the patient with the end effector 239
being closest to the anchor port 216, as illustrated in FIG. 8J.
The instrument arm assembly 230 may then be turned 180 degrees (if
needed) and/or moved so that the instrument arm assembly 230 can be
brought next to the outer surface of the port assembly 210. The
instrument arm assembly 230 may then be pulled adjacent to the
outer surface of the port assembly 210 so that the securing portion
231a of the shoulder section 231 of the instrument arm assembly 230
is adjacent to the anchor port 216. The securing portion 231a of
the instrument arm assembly 230 may then be secured to the anchor
port 216, as illustrated in FIG. 8K. The second gate assembly 214b
may be configured to the closed position at any time after at least
the end effector 230 of the instrument arm assembly 230 passes
through the second gate assembly 214b.
[0147] (5) Inserting and Attaching One or More Additional
Instrument Arm Assemblies, One or More Assistant Arm Assemblies,
and/or One or More Additional Camera Arm Assemblies.
[0148] One or more additional instrument arm assemblies 240, one or
more assistant arm assemblies 250 or 260, and/or one or more
additional image capturing assemblies (not shown) may also be
inserted and installed in a reverse-directed manner via the central
access channel 210a of the port assembly 210 in the same manner as
described above for the image capturing assembly 220 and the
instrument arm assembly 230.
[0149] (6) Unattaching and Removing the Instrument Arm Assembly,
Image Capturing Assembly, and Assistant Arm Assemblies.
[0150] The instrument arm assembly 230, image capturing assembly
220, other instrument arm assembly 240 (if provided), other image
capturing assembly (if provided), and the one or more other
assistant arm assemblies 250 or 260 (if provided) may be unattached
(or unsecured) from the anchor ports 216 and removed from the
cavity of the patient via the central access channel 210a of the
port assembly 210 in a substantially reverse manner as described
above for the inserting and attaching in the reverse-directed
manner.
[0151] While various embodiments in accordance with the disclosed
principles have been described above, it should be understood that
they have been presented by way of example only, and are not
limiting. Thus, the breadth and scope of the example embodiments
described in the present disclosure should not be limited by any of
the above-described exemplary embodiments, but should be defined
only in accordance with the claims and their equivalents issuing
from this disclosure. Furthermore, the above advantages and
features are provided in described embodiments, but shall not limit
the application of such issued claims to processes and structures
accomplishing any or all of the above advantages.
[0152] For example, "assembly," "device," "portion," "segment,"
"member," "body," or other similar terms should generally be
construed broadly to include one part or more than one part
attached or connected together.
[0153] Various terms used herein have special meanings within the
present technical field. Whether a particular term should be
construed as such a "term of art" depends on the context in which
that term is used. "Connected," "connecting," "attached,"
"attaching," "anchored," "anchoring," "in communication with,"
"communicating with," "associated with," "associating with," or
other similar terms should generally be construed broadly to
include situations where attachments, connections, and anchoring
are direct between referenced elements or through one or more
intermediaries between the referenced elements. These and other
terms are to be construed in light of the context in which they are
used in the present disclosure and as one of ordinary skill in the
art would understand those terms in the disclosed context. The
above definitions are not exclusive of other meanings that might be
imparted to those terms based on the disclosed context.
[0154] As referred to in the present disclosure, a computing
device, controller, manipulator, master input device, a processor,
and/or a system may be a virtual machine, computer, node, instance,
host, and/or device in a networked or non-networked computing
environment. A networked computing environment may be a collection
of devices connected by communication channels that facilitate
communications between devices and allow devices to share
resources. Also as referred to in the present disclosure, a
computing device may be a device deployed to execute a program
operating as a socket listener and may include software
instances.
[0155] Resources may encompass any type of resource for running
instances including hardware (such as servers, clients, mainframe
computers, networks, network storage, data sources, memory, central
processing unit time, scientific instruments, and other computing
devices), as well as software, software licenses, available network
services, and other non-hardware resources, or a combination
thereof.
[0156] A networked computing environment may include, but is not
limited to, computing grid systems, distributed computing
environments, cloud computing environment, etc. Such networked
computing environments include hardware and software
infrastructures configured to form a virtual organization comprised
of multiple resources that may be in geographically disperse
locations.
[0157] Furthermore, the coverage of the present application and any
patents issuing from the present application may extend to one or
more communications protocols, including TCP/IP.
[0158] Words of comparison, measurement, and timing such as "at the
time," "equivalent," "during," "complete," and the like should be
understood to mean "substantially at the time," "substantially
equivalent," "substantially during," "substantially complete,"
etc., where "substantially" means that such comparisons,
measurements, and timings are practicable to accomplish the
implicitly or expressly stated desired result.
[0159] Additionally, the section headings herein are provided for
consistency with the suggestions under 37 C.F.R. 1.77 or otherwise
to provide organizational cues. These headings shall not limit or
characterize the invention(s) set out in any claims that may issue
from this disclosure. Specifically, a description of a technology
in the "Background" is not to be construed as an admission that
technology is prior art to any invention(s) in this disclosure.
Furthermore, any reference in this disclosure to "invention" in the
singular should not be used to argue that there is only a single
point of novelty in this disclosure. Multiple inventions may be set
forth according to the limitations of the multiple claims issuing
from this disclosure, and such claims accordingly define the
invention(s), and their equivalents, that are protected thereby. In
all instances, the scope of such claims shall be considered on
their own merits in light of this disclosure, but should not be
constrained by the headings herein.
* * * * *