Patent Application
20230363749
This disclosure relates generally to the field of robotic surgery and, more particularly, to energy devices, systems and methods having a bi-stable lever or latch assembly and an auto energy option.
Minimally-invasive surgery (MIS), such as laparoscopic surgery, involves techniques intended to reduce tissue damage during a surgical procedure. For example, laparoscopic procedures typically involve creating a number of small incisions in the patient (e.g., in the abdomen), and introducing one or more tools, for example a surgical stapler and/or an energy device, and at least one endoscopic camera through the incisions into the patient. The surgical procedures are then performed by using the introduced tools, with the visualization aid provided by the camera. Generally, MIS provides multiple benefits, such as reduced patient scarring, less patient pain, shorter patient recovery periods, and lower medical treatment costs associated with patient recovery. In some embodiments, MIS may be performed with robotic systems that include one or more robotic arms for manipulating surgical instruments based on commands from an operator.
Aspects of the disclosure include surgical tools, for example energy tools, harmonic tools, staplers, or any other surgical tool or device having a handle with a lever latching mechanism to facilitate control and/or manipulation of the surgical tool (e.g., application of energy using an energy tool) or device by the surgeon. An “energy tool” or “energy device” as used herein is intended to refer to any surgical instrument that can be used to manipulate a tissue by applying energy during a surgical procedure. For example, an energy tool or device may be any surgical instrument that can emit an energy sufficient to cut, dissect, burn, seal, coagulate, desiccate, fulgurate and/or achieve homeostasis of the tissue upon contact with the tissue. The energy tool or device may apply energy in the form of high frequencies, radio frequencies, ultrasonic waves, microwaves, or the like. In some aspects, the energy tool may include a surgical tool grasper that is inserted into the patient to perform the surgical procedure and is connected to a handle having a lever or trigger that controls the grasper. For example, during operation, the surgeon may hold the handle and squeeze the lever or trigger to a closed position which causes the grasper to emit energy. The opposite operation, for example pushing of the lever or trigger away from the handle to an open position may terminate the application of energy. In some aspects, the lever or trigger may latch (or otherwise be secured) in the closed position during energy application and remain latched until the surgeon applies an opposite force pushing the lever or trigger away from the handle. The lever or trigger may then remain in the open position until the surgeon reapplies the squeezing force pulling the lever or trigger toward the handle back to the closed position. In this aspect, the lever or latch may be considered a bi-stable latch or lever, or otherwise be considered associated with a bi-stable latch assembly, in that it is considered stable (e.g., resting) in either of two states, namely the closed position or the open position. In other aspects, the lever or trigger may be capable of moving between a number of positions (e.g., between the open position and the closed position) without latching during energy application. Representatively, the lever, trigger or associated latch assembly may be prevented from latching, however, capable of actuating an energy switch such that energy application can occur at a number of different lever or trigger positions without latching. The handle and lever or trigger configuration including, for example latching, non-latching and/or optional energy application options or modes, may provide a number of advantages to the user including, but not limited to, less force required on trigger for energy application, more comfortable use, the option of latching or non-latching based on user desire, possibility of energy application without latching, or the like.
Representatively, in one aspect the disclosure is directed to a surgical tool for a surgical robotic system, the surgical tool comprising a surgical tool grasper operable to perform a surgical procedure; and a handle coupled to the surgical tool grasper and having a lever operable to actuate the surgical tool grasper to perform the surgical procedure, the lever configured to move about a first pivot point and coupled to a bi-stable latch assembly configured to move about a second pivot point, and wherein a position of the bi-stable latch assembly relative to a boundary line intersecting the first pivot point and the second pivot point causes the bi-stable latch assembly to latch the lever in a closed position or unlatch the lever. In one aspect, moving the lever about the first pivot point in a clockwise direction moves the bi-stable latch assembly to a latched position that secures the lever in the closed position. In some aspects, the closed position actuates the surgical tool grasper to perform the surgical procedure. In still further aspects, moving the lever about the first pivot point in a counterclockwise direction moves the bi-stable latch assembly to a non-latched position that unlatches the lever. In some aspects, the lever is in an open position when unlatched that terminates the surgical procedure. In some aspects, the bi-stable latch assembly may include a first segment coupled to a second segment at a j oint, and wherein the movement of the lever causes the first segment to move about the joint relative to the second segment and moves the joint to a position over or under the boundary line. A positon of the joint above the boundary line may cause the bi-stable latch assembly to latch the lever in the closed position. In some aspects, a position of the joint below the boundary line causes the bi-stable latch assembly to unlatch the lever. In some aspects, the lever is latched in the closed position only by the bi-stable latch assembly. In still further aspects, the surgical tool may be an energy tool and the surgical procedure may include an energy operation.
In another aspect, the disclosure is directed to an energy tool for a surgical robotic system, the energy tool comprising: a tool grasper operable to perform an energy operation; and a handle coupled to the tool grasper and comprising a lever operable to actuate the tool grasper to perform the energy operation in a first mode in which the lever is latched in a closed position and a second mode in which the lever is unlatched. In some aspects, the lever pivots about a first pivot point and is coupled to a latch assembly that pivots about a second pivot point, and wherein a position of the latch assembly relative to a boundary line intersecting the first pivot point and the second pivot point latches the lever in the first mode or unlatches the lever in the second mode. In some aspects, the positioning of the latch assembly over the boundary line latches the lever in the closed position and actuates the tool grasper to perform the energy operation. In still further aspects, positioning of the latch assembly under the boundary line unlatches the lever allowing the lever to transition between the closed position and an open position. The energy tool may also include a lever adjustor coupled to the handle that prevents the latch assembly from latching in the second mode. The lever adjustor may be a bar that is operable to translate between a first position that allows the latch assembly to latch the lever in the first mode and a second position that prevents the latch assembly from latching the lever in the second mode. In some aspects, an energy application switch may be coupled to the handle, and when actuated, the switch may cause the tool grasper to perform the energy operation. In some aspects, the lever adjustor bar in the second position is aligned with the energy application switch and a movement of the lever about the pivot point to the closed position causes the lever adjustor bar to contact the energy application switch and actuate the tool grasper to perform the energy operation. In some aspects, the energy tool may further include a third mode in which the energy application switch is directly controlled by the user to cause the tool grasper to perform the energy operation when the lever is unlatched. In some aspects, the tool may include a selection lever coupled to the housing to allow a user to select between the first mode and the second mode.
The above summary does not include an exhaustive list of all aspects of the present invention. It is contemplated that the invention includes all systems and methods that can be practiced from all suitable combinations of the various aspects summarized above, as well as those disclosed in the Detailed Description below and particularly pointed out in the claims filed with the application. Such combinations have particular advantages not specifically recited in the above summary.
In various embodiments, description is made with reference to the figures. However, certain embodiments may be practiced without one or more of these specific details, or in combination with other known methods and configurations. In the following description, numerous specific details are set forth, such as specific configurations, dimensions, and processes, in order to provide a thorough understanding of the embodiments. In other instances, well-known processes and manufacturing techniques have not been described in particular detail in order to not unnecessarily obscure the description. Reference throughout this specification to “one embodiment,” “an embodiment,” or the like, means that a particular feature, structure, configuration, or characteristic described is included in at least one embodiment. Thus, the appearance of the phrase “one embodiment,” “an embodiment,” or the like, in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, configurations, or characteristics may be combined in any suitable manner in one or more embodiments.
In addition, the terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the invention. Spatially relative terms, such as “beneath”, “below”, “lower”, “above”, “upper”, and the like may be used herein for ease of description to describe one element’s or feature’s relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the exemplary term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As used herein, the singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising” specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.
The terms “or” and “and/or” as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, “A, B or C” or “A, B and/or C” mean “any of the following: A; B; C; A and B; A and C; B and C; A, B and C.” An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.
Moreover, the use of relative terms throughout the description may denote a relative position or direction. For example, “distal” may indicate a first direction away from a reference point, e.g., away from a user. Similarly, “proximal” may indicate a location in a second direction opposite to the first direction, e.g., toward the user. Such terms are provided to establish relative frames of reference, however, and are not intended to limit the use or orientation of any particular surgical robotic component to a specific configuration described in the various embodiments below.
Referring to
Each surgical tool 107 may be manipulated manually, robotically, or both, during the surgery. For example, the surgical tool 107 may be a tool used to enter, view, or manipulate an internal anatomy of the patient 106. In an embodiment, the surgical tool 107 may be a grasper that can grasp tissue of the patient and/or an energy tool that can emit energy to cut, coagulate, desiccate and/or fulgurate the grasped tissue. The surgical tool 107 may be controlled manually, by a bedside operator 108; or it may be controlled robotically, via actuated movement of the surgical robotic arm 104 to which it is attached. The robotic arms 104 are shown as a table-mounted system, but in other configurations the arms 104 may be mounted in a cart, ceiling or sidewall, or in another suitable structural support.
Generally, a remote operator 109, such as a surgeon or other operator, may use the user console 102 to remotely manipulate the arms 104 and/or the attached surgical tools 107, e.g., teleoperation. Teleoperation may be engaged or disengaged based on the user actions. It should be understood that “engaging” the teleoperation mode is intended to refer to an operation in which, for example, a UID or foot pedal that is prevented from controlling the surgical instrument, is transitioned to a mode (e.g., a teleoperation mode) in which it can now control the surgical instrument. On the other hand, disengaging the teleoperation mode is intended to refer to an operation which occurs when the system is in a teleoperation mode, and then transitioned to a mode (non-teleoperation mode) in which the UID or foot pedal can no longer control the surgical instrument. For example, teleoperation mode may be disengaged when the system determines that a detected movement is an unintended action or movement by the user or the user engages in any other action which suggests teleoperation mode should no longer be engaged.
The user console 102 may be located in the same operating room as the rest of the system 100, as shown in
In some variations, the bedside operator 108 may also operate the system 100 in an “over the bed” mode, in which the bedside operator 108 (user) is now at a side of the patient 106 and is simultaneously manipulating a robotically-driven tool (end effector as attached to the arm 104), e.g., with a handheld UID 114 held in one hand, and a manual laparoscopic tool. For example, the bedside operator’s left hand may be manipulating the handheld UID to control a robotic component, while the bedside operator’s right hand may be manipulating a manual laparoscopic tool. Thus, in these variations, the bedside operator 108 may perform both robotic-assisted minimally invasive surgery and manual laparoscopic surgery on the patient 106.
During an example procedure (surgery), the patient 106 is prepped and draped in a sterile fashion to achieve anesthesia. Initial access to the surgical site may be performed manually while the arms of the robotic system 100 are in a stowed configuration or withdrawn configuration (to facilitate access to the surgical site). To create a port for enabling introduction of a surgical instrument into the patient 106, a trocar assembly may be at least partially inserted into the patient through an incision or entry point in the patient (e.g., in the abdominal wall). The trocar assembly may include a cannula or trocar, an obturator, and/or a seal. In some variations, the trocar assembly can include an obturator such as a needle with a sharpened tip for penetrating through a patient’s skin. The obturator may be disposed within the lumen of the cannula when being inserted into the patient 106, and then removed from the cannula such that a surgical instrument may be inserted through the lumen of the cannula. Once positioned within the body of the patient 106, the cannula may provide a channel for accessing a body cavity or other site within the patient 106, for example, such that one or more surgical instruments or tools (e.g., an energy tool) can be inserted into a body cavity of the patient 106, as described further herein. It will be understood that the cannula as described herein may be part of a trocar, and can optionally include an obturator or other components.
Once access is completed, initial positioning or preparation of the robotic system 100 including its arms 104 may be performed. Next, the surgery proceeds with the remote operator 109 at the user console 102 utilizing the foot-operated controls 113 and the UIDs 114 to manipulate the various end effectors and perhaps an imaging system, to perform the surgery. Manual assistance may also be provided at the procedure bed or table, by sterile-gowned bedside personnel, e.g., the bedside operator 108 who may perform tasks such as retracting tissues, performing manual repositioning, and tool exchange upon one or more of the robotic arms 104. Non-sterile personnel may also be present to assist the remote operator 109 at the user console 102. When the procedure or surgery is completed, the system 100 and the user console 102 may be configured or set in a state to facilitate post-operative procedures such as cleaning or sterilization and healthcare record entry or printout via the user console 102.
In one embodiment, the remote operator 109 holds and moves the UID 114 to provide an input command to move a robot arm actuator 117 in the robotic system 100. The UID 114 may be communicatively coupled to the rest of the robotic system 100, e.g., via a console computer system 116. Representatively, in some embodiments, UID 114 may be a portable handheld user input device or controller that is ungrounded with respect to another component of the surgical robotic system. For example, UID 114 may be ungrounded while either tethered or untethered from the user console. The term “ungrounded” is intended to refer to implementations where, for example, both UIDs are neither mechanically nor kinematically constrained with respect to the user console. For example, a user may hold a UID 114 in a hand and move freely to any possible position and orientation within space only limited by, for example, a tracking mechanism of the user console. The UID 114 can generate spatial state signals corresponding to movement of the UID 114, e.g. position and orientation of the handheld housing of the UID, and the spatial state signals may be input signals to control a motion of the robot arm actuator 117. The robotic system 100 may use control signals derived from the spatial state signals, to control proportional motion of the actuator 117. In one embodiment, a console processor of the console computer system 116 receives the spatial state signals and generates the corresponding control signals. Based on these control signals, which control how the actuator 117 is energized to move a segment or link of the arm 104, the movement of a corresponding surgical tool that is attached to the arm may mimic the movement of the UID 114. Similarly, interaction between the remote operator 109 and the UID 114 can generate for example a grip control signal that causes a jaw of a grasper of the surgical tool 107 to close and grip the tissue of patient 106.
The surgical robotic system 100 may include several UIDs 114, where respective control signals are generated for each UID that control the actuators and the surgical tool (end effector) of a respective arm 104. For example, the remote operator 109 may move a first UID 114 to control the motion of an actuator 117 that is in a left robotic arm, where the actuator responds by moving linkages, gears, etc., in that arm 104. Similarly, movement of a second UID 114 by the remote operator 109 controls the motion of another actuator 117, which in turn moves other linkages, gears, etc., of the robotic system 100. The robotic system 100 may include a right arm 104 that is secured to the bed or table to the right side of the patient, and a left arm 104 that is at the left side of the patient. An actuator 117 may include one or more motors that are controlled so that they drive the rotation of a joint of the arm 104, to for example change, relative to the patient, an orientation of an endoscope or a grasper of the surgical tool 107 that is attached to that arm. Motion of several actuators 117 in the same arm 104 can be controlled by the spatial state signals generated from a particular UID 114. The UIDs 114 can also control motion of respective surgical tool graspers. For example, each UID 114 can generate a respective grip signal to control motion of an actuator, e.g., a linear actuator, that opens or closes jaws of the grasper at a distal end of surgical tool 107 to grip tissue within patient 106. In some aspects, the surgical tool grasper may be a surgical stapler or energy tool and the UIDs 114 are used to control the opening or closing of the jaw of the surgical stapler or energy tool as well as the release of staples and/or energy application through the tissue. When the user is finished controlling the surgical tools with the UIDs 114, the user may dock (i.e., store) the UIDs 114 with docking stations or UID holders located on the console 102.
In some aspects, the communication between the platform 105 and the user console 102 may be through a control tower 103, which may translate user commands that are received from the user console 102 (and more particularly from the console computer system 116) into robotic control commands that are transmitted to the arms 104 on the robotic platform 105. The control tower 103 may also transmit status and feedback from the platform 105 back to the user console 102. The communication connections between the robotic platform 105, the user console 102, and the control tower 103 may be via wired and/or wireless links, using any suitable ones of a variety of data communication protocols. Any wired connections may be optionally built into the floor and/or walls or ceiling of the operating room. The robotic system 100 may provide video output to one or more displays, including displays within the operating room as well as remote displays that are accessible via the Internet or other networks. The video output or feed may also be encrypted to ensure privacy and all or portions of the video output may be saved to a server or electronic healthcare record system. It will be appreciated that the operating room scene in
Turning now to
A number of representative surgical tool and lever configurations will now be discussed in more detail in reference to
Lever or trigger 208 is movably coupled to housing 302 in front of the base portion 302B such the user’s fingers wrap around, or otherwise contact, lever or trigger 208 when the user grasps handle 202. Lever or trigger 208 may be coupled to housing 302 at pivot point 304 which allows lever or trigger 208 to move relative to base portion 302A. Representatively, lever or trigger 208 may move, pivot or rotate about, pivot point 304 (e.g., a pivot joint or pin), for example, in a clockwise or counterclockwise direction. For example, lever 208 may move in a first direction as illustrated by arrow 330 to a first or closed position in which lever 208 contacts, or is otherwise near, base portion 302B. In some aspects, the first direction may be considered a clockwise direction around pivot point 304, a direction toward base portion 302B or any other direction which moves lever 208 toward base portion 302B to a position considered a closed position. Lever or trigger 208 may also move, pivot or rotate about, pivot point 304 (e.g., a pivot joint or pin), for example, in second direction as illustrated by arrow 332. For example, lever 208 may move in the second direction to a second or open position in which lever 208 is spaced a distance from base portion 302B. In some aspects, the second direction may be considered a counterclockwise direction, a direction away from base portion 302B or any other direction which moves lever 208 away from base portion 302B to a position considered an open position.
Lever or trigger 208 is further coupled to a latching assembly 306 that latches or unlatches the lever or trigger 208 in the closed and/or open positions. Representatively, in one position, configuration or mode, latching assembly 306 may latch (e.g., secure or hold) lever or trigger 208 in a closed position which enables energy activation and energy to be emitted from the tool. In some aspects, this position, configuration or mode in which latching assembly 306 latches lever or trigger 208 may be considered a latching or latched position. In another position, configuration or mode, latching assembly 306 may unlatch (e.g., release) lever or trigger 208 so it can transition to an open position. In the open position, energy activation may be terminated or disabled. In some aspects, this position, configuration or mode in which latching assembly 306 unlatches lever or trigger 208 may be considered a non-latching or non-latched position. In some aspects, latching assembly 306 and/or lever or trigger 208 may be considered stable in the closed position/configuration and the open position/configuration and therefore be referred to herein as bi-stable.
Referring now in more detail to latching assembly 306, latching assembly 306 may be an articulated joint including a first segment 308A that is movably connected to a second segment 308B by a pivot joint 310. In this aspect, first segment 308A can move (e.g., rotate or pivot) relative to second segment 308B about pivot joint 310. The other end of first segment 308A that is opposite the end coupled to pivot joint 310 may be fixedly coupled to lever 208. For example, the other end of first segment 308A may be coupled to lever 208 by a fastening member 312 (e.g., screw, bolt or the like). The other end of second segment 308B that is opposite the end coupled to the pivot joint 310 may be movably coupled to housing 302. For example, the other end of second segment 308B may be pivotally or rotatably coupled to housing 302 at pivot point or joint 314. In this aspect, a movement of lever 208 will cause the latching assembly 306 to also move. The latching assembly 306 may move to a position in which it either latches (e.g., secures) lever 208 at a particular position (e.g., closed position) or unlatches (e.g., releases) lever 208 so it may move to another position (e.g., open position).
Representatively, in some aspects, a movement of the latching assembly 308 to a configuration or position above/over or below/under a bi-stable boundary line 316 latches or unlatches the lever 308. The bi-stable boundary line 316 may be a line, axis or the like that is defined by, or otherwise intersects with, the pivot point 312 and pivot point 314. As can be seen from
Referring now to
The user may transition the lever 208 back to the open position by applying an opposite force, or otherwise pushing lever 208 away from base portion 302B. This force applied by the user overrides the biasing force holding latching assembly 308 in the latched position. This, in turn, causes latching assembly 308 to move below bi-stable boundary line 316 to the non-latched position in which it does not latch lever 208.
In addition, it should be understood that in some aspects, a stopper 322 may be coupled to housing 302, above latching assembly 308 and bi-stable boundary line 316. Stopper 322 may be of any size or shape, and at any location within housing 302, suitable for preventing latching assembly 308 from moving too far above bi-stable boundary line 316. Representatively, while it is desirable for pivot joint 310 of latching assembly 308 to move above or over bi-stable boundary line 316 to achieve the latched position, if pivot joint 310 moves too far above line 316 it may interfere with other tool operations or be difficult to transition back to the unlatched position. In this aspect, stopper 322 sets a maximum position above bi-stable boundary line 316 for pivot joint 310 that is suitable for latching the lever 208 as described without interfering with other tool operations and while still being operable to transition to the unlatched position (e.g., a position below bi-stable boundary line 316).
It should further be understood that the movement of lever 208 to the closed or open position causes the tool to emit energy, or otherwise perform a surgical operation or procedure, or terminate the energy application or surgical operation. In this aspect, lever 208 should be understood as being mechanically and/or electrically coupled to the surgical operation or procedure (e.g., energy application) of the tool using any conventional mechanism in which a movement of lever 208 to the closed position signals, or otherwise causes, the tool to perform a surgical operation (e.g., apply energy) and movement of lever 208 to the open position signals, or otherwise causes, the tool to terminate the surgical operation (e.g., energy application). For example, in some aspects, latching assembly 306 connects lever 208 to the tool components that operate the surgical tool grasper or jaw 206. Representatively, in some aspects the pivot joint 314 at the end of latching assembly 306 may be mechanically connected to a yoke assembly 320 which is, in turn, connected to circuitry or other components running from the handle portion 202 to jaw 206 for controlling the jaw 206 and the application of energy. In this aspects, the movement of latching assembly 306 in response to the movement of the lever 208 will also drive, or otherwise actuate, an operation of the jaw 206. In still further aspects, it is contemplated that other mechanisms, for example, a switch or button 340 placed near lever 208 may be used (e.g., pressed) to actuate or control the surgical procedure (e.g., energy application) in addition to, or instead of, lever 208. For example, the switch or button 340 could be associated with an energy function of the tool (e.g., mechanically or electrically associated) and when the user presses the switch or button 340, or otherwise moves the switch or button 340 to an “on” position, it causes the tool to emit energy, and when the switch or button 340 is not pressed or in an “off” position, it does not cause the tool to emit energy.
Referring now to
On the other hand, when lever 208 pivots or rotates about pivot point 304 to the closed/latched position 504, first and second segments 308A, 308B of latching assembly 306 rotate, bend or pivot relative to one another about pivot joint 310 in an opposite direction. The movement of first and second segments 308A, 308B causes pivot joint 310 to move to a position above bi-stable boundary line 316 as illustrated by the arrow. In this position above bi-stable boundary line 316, latching assembly 306 is considered to be in a latched position and lever 208 is further considered latched and stable in the closed position. In other words, if the user were to release the force they are applying on the lever 208 (e.g., no longer squeeze the lever), latching assembly 306 and lever 208 would still remain in the latched or closed position. In addition, it can be understood that when lever 208 is in this closed or latched position, it is actuating or otherwise causing the surgical tool grasper to perform a surgical operation (e.g., application of energy). It can further be seen from this view that stopper 322 stops or otherwise prevents latching assembly 306 from moving farther then desired above bi-stable boundary line 316 and possibly interfering with or contacting the other handle component operations (e.g., operations associated with yoke 320 and/or shaft 204). In this aspect, stopper 322 may also be understood as a mechanism or component which sets or limits the range of movement of latching assembly 306 to a desired range.
Referring now to
In addition, lever adjustor 602 may connect lever 208 to energy application switch 604 so that even when lever 208 is prevented from latching, it can still be used for energy application. Representatively, lever adjustor 602 may be connected to the handle (e.g., housing 302) such that it can both translate as illustrated by the horizontal arrow and in some aspects also move up and down as illustrated by the vertical arrow. In some aspects, lever adjustor 602 may, for example, be a bar, rode or the like that is coupled to the handle housing at a position above the lever 208, for example, at a position between a top end of lever 208 and stopper 322. In some aspects, lever adjustor 602 may be coupled to a rail or other track like mechanism that guides or otherwise allows for the translation of lever adjustor 602 within the housing. Lever adjustor 602 may translate between different positions (or modes) that allow the latch assembly 306 to latch the lever 208, prevent the latch assembly 306 from latching the lever 208, and/or prevent the latch assembly 306 from latching the lever 208 but allow for energy application by contacting the energy application switch 604. The representative positions (or modes) of lever adjustor 602 are illustrated by dashed lines 606, 608 and 610. In still further aspects, an end 614 of lever adjustor 602 may move up and/or down by rotating about pivot point 612. In this aspect, when lever adjustor 602 is at a position (or mode) in which it is between the lever 208 and energy switch 604 (e.g., position 610), the movement of the lever 208 may move the end 614 of lever adjustor 602 upward causing it to contact and actuate the energy switch 604. Energy switch 604 may be any type of conventional switch, button or mechanism that is electrically and/or mechanically coupled to the energy function of the tool such that when it is pressed, or otherwise contacted, it can cause the tool to apply energy. When energy switch 604 is not pressed or otherwise in an “on” position, it will not activate the energy function, or otherwise cause energy to be emitted. In this aspect, even in an unlatched position, the user is able to control an energy operation using the lever 208.
Referring now in more detail to
In still further aspects, upon releasing the lever 208 (i.e. no longer squeezing), lever 208 may automatically move to a fully open position (e.g., position 502 shown in
In addition, in this position (or mode) 610, the end 614 of lever adjustor 602 extends beyond the end of stopper 322 and is positioned directly below energy application switch 604. For example, the end 614 of lever adjustor 602 may be positioned to the left of lever pivot point 312, for example, between pivot point 312 and pivot point 314 of latching assembly 306. As a result, when the user squeezes lever 208, lever 208 may contact lever adjustor 602 and cause the end 614 of lever adjustor 602 to move up and/or down. For example, when the user squeezes lever 208, the lever 208 pushes on lever adjustor 602 causing the end 614 to move in an upward direction as shown in
Thus, in position (or mode) 610, lever 208 can be closed by the user and actuate an energy function of the tool, but without the lever 208 becoming latched in the closed position. Lever 208 is therefore free to move between the closed position shown in
Representatively, sliding pin 1004 to position 1008 will cause the tool to operate in a latched or latching mode. For example, position 1008 may correspond to the mode illustrated by
In another aspect, sliding pin 1004 to position 1010 will cause the tool to operate in a non-latching or non-latched mode, or mode in which latching is considered disabled. For example, position 1010 corresponds to the mode illustrated by
In still further aspects, sliding pin 1004 to position 1012 will cause the tool to operate in a non-latching mode, or mode in which latching is considered disabled, but also with an energy activation option. For example, position 1012 corresponds to the modes illustrated by
It should further be understood that while three locations or positions 1008, 1010, 1012 corresponding to three modes are described, the locations or positions 1008, 1010, 1012 may correspond to other modes and/or there may be more or less locations or positions used to select the different modes. In addition, other mechanisms suitable for mode selection may be used to transition the tool to the different modes disclosed herein and the tool is not intended to be limited to the particular selection lever and pin configuration disclosed herein.
As described above, the user console 102 may include console computers 1111, one or more UIDs 1112, console actuators 1113, displays 1114, foot pedals 1116 and a network interface 1118. In addition, user console 102 may include a number of components, for example, a UID tracker(s) 1115, a display tracker(s) 1117 and a console tracker(s) 1119, for detecting various surgical conditions required for operation of the system (e.g., UID orientation, orientation of the surgeon relative to the display, orientation the console seat, etc.). It should further be understood that a user or surgeon sitting at the user console 102 can adjust ergonomic settings of the user console 102 manually, or the settings can be automatically adjusted according to user profile or preference. The manual and automatic adjustments may be achieved through driving the console actuators 1113 based on user input or stored configurations by the console computers 1111. The user may perform robot-assisted surgeries by controlling the surgical robot 120 using one or more master UIDs 1112 and foot pedals 1116. Positions and orientations of the UIDs 1112 are continuously tracked by the UID tracker 1115, and status changes are recorded by the console computers 1111 as user input and dispatched to the control tower 103 via the network interface 1118. Real-time surgical video of patient anatomy, instrumentation, and relevant software apps can be presented to the user on the high resolution 3D displays 1114 including open or immersive displays.
The user console 102 may be communicatively coupled to the control tower 103. The user console also provides additional features for improved ergonomics. For example, the user console may be an open architecture system including an open display, although an immersive display, in some cases, may be provided. Furthermore, a highly-adjustable seat for surgeons and master UIDs tracked through electromagnetic or optical trackers are included at the user console 102 for improved ergonomics.
The control tower 103 can be a mobile point-of-care cart housing touchscreen displays, computers that control the surgeon’s robotically-assisted manipulation of instruments, safety systems, graphical user interface (GUI), light source, and video and graphics computers. As shown in
The surgical robot 120 may include an operating table 1124 with a plurality of integrated robotic arms 1122 that can be positioned over the target patient anatomy. An energy tool 1123 can be attached to or detached from the distal ends of the arms 1122, enabling the surgeon to perform various surgical procedures. The energy tool 1123 may be any one or more of the energy tools having sensors integrated therein as previously discussed in reference to
The foregoing description, for purposes of explanation, used specific nomenclature to provide a thorough understanding of the invention. However, it will be apparent to one skilled in the art that specific details are not required in order to practice the invention. Thus, the foregoing descriptions of specific aspects of the invention are presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed; obviously, many modifications and variations are possible in view of the above teachings. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, and they thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated.
