阅读说明：本技术 具有砧支撑件的外科钉合设备 (Surgical stapling apparatus with anvil support ) 是由 贾斯汀·威廉斯 于 2019-06-28 设计创作，主要内容包括：一种圆形钉合设备包含支撑件和砧头组合件。所述砧头组合件包含砧头和紧固到所述砧头的砧帽。所述砧帽被定位成将所述支撑件选择性地紧固到所述砧头。所述砧帽是柔性的且包含外环,所述外环相对于所述砧头可选择性地移动以从所述砧头释放所述支撑件。(A circular stapling apparatus includes a support and an anvil head assembly. The anvil-head assembly includes an anvil head and an anvil cap secured to the anvil head. The anvil cap is positioned to selectively secure the support to the anvil head. The anvil cap is flexible and includes an outer ring selectively movable relative to the anvil head to release the support from the anvil head.)

1. A stapling device comprising:

an anvil head comprising a top surface and a bottom surface, the bottom surface defining a staple forming pocket;

a support supported on the bottom surface of the anvil head and positioned to cover the staple forming pockets; and

an anvil cap secured to the top surface of the anvil head and positioned to selectively secure the support to the anvil head, the anvil cap including an inner ring assembly and an outer ring selectively engageable with the support and movable relative to the inner ring assembly to separate the anvil cap from the support and release the support from the anvil head.

2. The stapling apparatus of claim 1, wherein the inner ring assembly is flexible to facilitate movement of the outer ring relative to the support.

3. The stapling apparatus of claim 2, wherein the inner ring assembly includes a flexible cup and an annular flange connecting the flexible cup to the outer ring.

4. The stapling apparatus of claim 3, further comprising a fastener securing the anvil cap to the anvil head and seated within the flexible cup.

5. The stapling apparatus of claim 4, further comprising a pin positioned in and movable relative to the anvil head to move the outer ring away from the support when the fastener maintains the flexible cup secured to the anvil head.

6. The stapling apparatus of claim 5, wherein the pin is integral with the anvil cap.

7. The stapling apparatus according to claim 5, wherein said anvil head supports a pad movable relative to said anvil head, said pad being selectively engageable with said pin to move said pin relative to said anvil head.

8. The stapling apparatus of claim 7, further comprising a cylindrical knife selectively engageable with the backing plate to move the backing plate relative to the anvil head.

9. The stapling apparatus of claim 1, wherein the support comprises fingers extending from the support, the fingers positioned along the top surface of the anvil head and disposed below the outer ring to support the support against the bottom surface of the anvil head.

10. The stapling apparatus of claim 9, wherein outer ring includes an annular lip positioned to contact the fingers to secure the support to the anvil head.

11. A circular stapling apparatus comprising:

a support member; and

an anvil-head assembly including an anvil head and an anvil cap secured to the anvil head, the anvil cap positioned to selectively secure the support to the anvil head, the anvil cap being flexible and including an outer ring selectively movable relative to the anvil head to release the support from the anvil head.

12. The circular stapling apparatus of claim 11, wherein the anvil cap includes an inner ring assembly secured to the anvil head, the inner ring assembly configured to flex in response to movement of the outer ring relative to the support.

13. The circular stapling apparatus of claim 12, wherein the inner ring assembly includes a flexible cup secured to the anvil head, and an annular flange connecting the flexible cup to the outer ring.

14. The circular stapling apparatus of claim 13, further comprising a fastener received in a pocket defined by the flexible cup, the fastener threadably coupled to the anvil to secure the flexible cup to the anvil.

15. The circular stapling apparatus of claim 14, wherein the anvil head assembly includes at least one pin received within the anvil head, the at least one pin being movable relative to the anvil head to separate the outer ring and the support.

16. The circular stapling apparatus of claim 15, wherein the at least one pin is independent of the anvil cap.

17. The circular stapling apparatus of claim 15, wherein the at least one pin comprises a plurality of spaced apart pins positioned around the anvil cap.

18. The circular stapling apparatus of claim 15, further comprising a cylindrical knife selectively movable into engagement with a pad supported in the anvil to move the pad relative to the anvil, the pad positioned to engage the at least one pin.

19. The circular stapling apparatus of claim 11, wherein the support includes fingers that support the support on the anvil head.

20. The circular stapling apparatus of claim 19, wherein the outer ring includes an annular lip that selectively captures the fingers against the anvil.

Technical Field

The present disclosure relates to surgical stapling apparatuses and, more particularly, to structures and methods for removably attaching buttress material to a circular surgical stapling apparatus for use in anastomosis procedures.

Background

Fasteners have traditionally been used to replace seams when joining various body structures (e.g., bowel or bronchial tubes). Surgical stapling devices to apply these fasteners are typically designed to simultaneously cut and seal tissue to reduce the time and risk involved in anastomosis procedures.

Surgeons use circular surgical stapling apparatuses to apply one or more surgical fasteners (e.g., staples or two-part fasteners) to body tissue for the purpose of joining segments of body tissue together and/or for creating an anastomosis. Circular surgical stapling devices generally comprise: an annular fastener magazine assembly supporting a plurality of annular rows of fasteners; an annular anvil assembly operatively associated with the fastener cartridge assembly providing a surface against which a fastener is formed upon activation of the circular stapling apparatus; and an annular blade for cutting tissue.

For most procedures, it is generally acceptable to use bare fasteners that are in direct contact with the patient's tissue. The integrity of the tissue will generally serve to prevent the fastener from tearing the tissue and damaging the seal before healing has occurred. However, in some surgical procedures, surgeons use buttress materials in conjunction with circular stapling devices to bridge, repair, and/or reinforce tissue defects within patients. In particular, the buttress material reduces trauma to the patient, reduces instances of leakage, reduces instances of bleeding, and creates a relatively strong bond between adjacent body tissues.

Accordingly, there is a need for a reliable and removable attachment of a buttress material to a circular stapling apparatus so that the buttress material does not interfere with the operation of the apparatus, remains on the apparatus until after the fastener is activated, and is conveniently and easily installed and used.

Disclosure of Invention

According to one aspect, the present disclosure is directed to a stapling apparatus. The stapling apparatus includes an anvil head, a support member, and an anvil cap. The anvil head includes a top surface and a bottom surface. The bottom surface defines a staple forming pocket. The buttress is supported on the bottom surface of the anvil head and positioned to cover the staple forming pockets. The anvil cap is secured to the top surface of the anvil head and is positioned to selectively secure the support to the anvil head. The anvil cap includes an inner ring assembly and an outer ring. The outer ring is selectively engageable with the support and movable relative to the inner ring assembly to separate the anvil cap from the support and release the support from the anvil head.

In some embodiments, the inner ring assembly may be flexible to facilitate movement of the outer ring relative to the support. The inner ring assembly may include a flexible cup and an annular flange connecting the flexible cup to the outer ring. The stapling apparatus may further include a fastener securing the anvil cap to the anvil head and seated within the flexible cup. The stapling apparatus may further include a pin positioned in the anvil head and movable relative to the anvil head to move the outer ring away from the support while the fastener maintains the flexible cup secured to the anvil head. The pin may be integral with the anvil cap. The anvil head may support a pad that is movable relative to the anvil head. The pad is selectively engageable with the pin to move the pin relative to the anvil head. The stapling apparatus may further include a cylindrical knife selectively engageable with the pad to move the pad relative to the anvil head.

In certain embodiments, the support may include fingers extending from the support. The fingers may be positioned along the top surface of the anvil head and disposed below the outer ring to support the support against the bottom surface of the anvil head. The outer ring may include an annular lip positioned to contact the fingers to secure the support to the anvil head.

According to another aspect of the present disclosure, a circular stapling apparatus is provided. The circular stapling apparatus includes a support and an anvil head assembly. The anvil-head assembly includes an anvil head and an anvil cap secured to the anvil head. The anvil cap is positioned to selectively secure the support to the anvil head. The anvil cap is flexible and includes an outer ring selectively movable relative to the anvil head to release the support from the anvil head.

In certain embodiments, the anvil cap may include an inner ring assembly secured to the anvil head. The inner ring assembly may be configured to flex in response to movement of the outer ring relative to the support. The inner ring assembly may include a flexible cup secured to the anvil head, and an annular flange connecting the flexible cup to the outer ring. The circular stapling apparatus may further include a fastener received in a pocket defined by the flexible cup. The fastener may be threadably coupled to the anvil head to secure the flexible cup to the anvil head. The anvil head assembly may include one or more pins received within the anvil head. The one or more pins may be movable relative to the anvil head to separate the outer ring from the support. The one or more pins may be independent of the anvil cap. The one or more pins may include a plurality of spaced apart pins positioned around the anvil cap. The circular stapling apparatus may further include a cylindrical knife that is selectively movable into engagement with a backing plate supported in the anvil head to move the backing plate relative to the anvil head. The shim plate may be positioned to engage the one or more pins.

In some embodiments, the support may include fingers that support the support on the anvil head. The outer ring may include an annular lip that selectively captures the fingers against the anvil head.

Other aspects, features, and advantages will be apparent from the description, drawings, and claims that follow.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above and the detailed description given below, serve to explain the principles of the disclosure, in which:

FIG. 1 is a perspective view of a surgical stapling apparatus including one embodiment of an end effector shown in an unaccessed position in accordance with the present disclosure;

FIG. 2 is an enlarged perspective view of the indicated detail area shown in FIG. 1;

FIG. 3 is a perspective view of the end effector of FIG. 1, with the anvil assembly of the end effector shown separated from the cartridge assembly of the end effector;

FIG. 4 is a perspective view of an anvil and head assembly of the anvil assembly of FIG. 3 with parts separated;

FIG. 5 is a perspective view of an anvil cap of the anvil-head assembly of FIG. 4;

FIG. 6 is a perspective view of the anvil assembly of FIG. 3 with parts separated;

FIG. 7 is a side cross-sectional view of the end effector of FIG. 1, with the end effector illustrated in an approximated position;

FIGS. 8-10 are progressive views illustrating the surgical stapling apparatus of FIG. 1 performing an anastomosis procedure;

FIG. 11 is a perspective view of another embodiment of an anvil assembly; and is

FIG. 12 is a perspective view of an anvil and head assembly of the anvil assembly of FIG. 11 with parts separated.

Detailed Description

Embodiments of the presently disclosed surgical stapling apparatus are described in detail with reference to the drawings, wherein like reference numerals designate identical or corresponding elements in each of the several views. The term "clinician" refers to a doctor, nurse, or any other medical personnel and may include support personnel, as is commonly known. In addition, the term "proximal" refers to the portion of the structure that is closer to the clinician, and the term "distal" refers to the portion of the structure that is further from the clinician. Furthermore, directional terms such as front, rear, upper, lower, top, bottom, and the like are used for convenience of description only and are not intended to limit the disclosure appended hereto.

In the following description, well-known functions or constructions are not described in detail to avoid obscuring the disclosure in unnecessary detail.

Turning now to fig. 1, a surgical stapling apparatus, generally referred to as 10, is provided. In embodiments, the surgical stapling apparatus 10 is adapted to be reusable, and in certain embodiments, the surgical stapling apparatus 10 or portions thereof may be adapted to be single use and/or disposable. The surgical stapling apparatus 10 defines a centerline "CL" and includes a surgical device 100 in the form of a powered, hand-held, electromechanical instrument. The surgical stapling apparatus 10 further includes an adapter assembly 200 that is selectively attachable to the surgical device 100. The adapter assembly 200 extends distally from the surgical device 100 and has an elongated body 202 extending to a distal end. The distal end of the elongate body 202 supports an end effector 300. The end effector 300 includes a housing or cartridge assembly 310 and an anvil assembly 320 positionable between a relaxed or unaccessed position (see fig. 1) and a clamped or approximated position (see fig. 7) for selectively clamping tissue "T" (fig. 10) for cutting and/or stapling the tissue "T". Surgical device 100 is configured for selective connection with adapter assembly 200, and adapter assembly 200 is in turn configured for selective connection with end effector 300. The surgical device 100 and the adapter assembly 200 cooperate together to operate the end effector 300.

The surgical device 100 of the surgical stapling apparatus 10 includes a handle housing 102 configured for selective removable storage of a rechargeable battery 103. Battery 103 is configured to supply power to the electrical components of surgical device 100. The handle housing 102 defines a cavity "C" therein that supports a controller or circuit board 105 configured to control various operations of the surgical device 100.

The surgical stapling apparatus 10 further includes a drive mechanism 106 configured to drive a rotatable shaft and/or gear assembly (not shown) within the handle housing 102 in order to perform various operations of the surgical stapling apparatus 10. For example, the drive mechanism 106 can be operable to selectively rotate the end effector 300 about and/or relative to a centerline "CL" of the surgical stapling apparatus 10; selectively moving anvil assembly 320 relative to cartridge assembly 310 to selectively clamp tissue; and/or to activate the surgical stapling apparatus 10 for fastening and/or cutting the clamped tissue. The battery 103, controller 105, and/or drive mechanism 106 may be operably coupled to one or more actuators 107a, 107b, e.g., finger-actuated control buttons, rocker devices, etc., to achieve various functions of the surgical stapling apparatus 10, such as those described above.

The drive mechanism 106 of the electro-mechanical surgical stapling apparatus 10 includes an access mechanism 108 that extends distally through the elongate body 202. The approximation mechanism 108 is configured to be selectively or removably coupled to the anvil assembly 320, as described in U.S. patent No. 7,303,106 to Milliman et al, the entire contents of which are incorporated herein by reference. The approximation mechanism 108 is also configured to move between distal and proximal positions along a centerline "CL" of the surgical stapling apparatus 10 to move the anvil assembly 320 relative to the cartridge assembly 310 between approximated and unapproximated positions to selectively clamp and/or unclamp tissue.

Reference may be made to Ross et al, U.S. patent No. 8,806,973, the entire contents of which are incorporated herein by reference, for a detailed description of the construction and operation of an example electro-mechanical surgical stapling apparatus, the components of which may be combined with and/or interchanged with one or more of the components of the surgical stapling apparatus 10 described herein.

While the surgical stapling apparatus 10 has been described as an electro-mechanically powered surgical stapling apparatus, the presently disclosed surgical stapling apparatus may be provided as a manually powered stapling apparatus. For a more detailed description of the construction and operation of an exemplary manually powered stapling apparatus, one or more components of which may be combined and/or interchanged with the electromechanical powered stapling apparatus described herein, reference may be made to U.S. patent No. 5,915,616 to Viola et al, U.S. patent No. 8,109,426 to Milliman et al, U.S. patent No. 8,272,552 to Holsten et al, U.S. patent No. 9,504,470 to Milliman, and U.S. patent No. 9,414,839 to Penna, the entire contents of which are incorporated herein by reference.

Turning now to fig. 2-10, anvil assembly 320 of end effector 300 includes a central rod assembly 322, and an anvil head assembly 324 extending distally from central rod assembly 322 and pivotally coupled thereto between a non-tilted position (fig. 2) and a tilted position (fig. 9). Briefly, center rod assembly 322 includes a center rod 322a that supports a plunger assembly 322b and a cam latch 322c that cooperate to enable anvil assembly 324 to move from an untilted position to a tilted position upon activation of end effector 300 and without accessing anvil assembly 320 from cartridge assembly 310. For a more detailed description of the structure and operation of the center rod assembly 322 and/or components thereof, reference may be made to U.S. patent No. 8,109,426 to Milliman et al, which is incorporated by reference above.

The anvil assembly 324 of the anvil assembly 320 includes an anvil 326, a support 328 selectively secured to the anvil 326 by an anvil cap 330, and a fastener 340 securing the anvil cap 330 to the anvil 326.

Anvil head 326 includes a bottom surface 326a that defines a staple forming pocket 326b and a pad recess 326x therein. The anvil 326 also includes a top surface 326c defining a pin bore 326d and a fastener bore 326e therein, which may be threaded. Additionally, the anvil head 326 supports the pad plate assembly 327 in the pad recess 326 x. The pad assembly 327 is axially movable from a proximal position (fig. 7) through the pad pocket 326x of the anvil 326 to a distal position (fig. 8). For a more detailed description of the structure and operation of the tie plate assembly 327 and/or components thereof, reference may be made to U.S. patent No. 8,109,426 to Milliman et al, which is incorporated by reference above.

The support 328 of the anvil-head assembly 324 includes an annular body 328a and a plurality of circumferentially spaced fingers 328b extending from the annular body 328 a. Annular body 328a is configured to extend above a bottom surface 326a of anvil head 326 so as to cover staple pockets 326b defined in bottom surface 326 a. The annular body 328a defines a central opening 328c therethrough. The fingers 328b are positioned to extend above the top surface 326c of the anvil head 326 and below the anvil cap 330 to selectively maintain the annular body 328a of the support 328 mounted to the bottom surface 326a of the anvil head 326.

Anvil cap 330 of anvil head assembly 324 includes an outer ring 332, an inner ring assembly 334, and spaced apart pins 336 extending proximally from a bottom surface of anvil cap 330. The pin 336 may be integrally or monolithically formed with the anvil cap 330. Outer ring 332 includes an annular lip 332a positioned to capture fingers 328b of support 328 against anvil head 326 when anvil cap 330 is engaged with anvil head 326 (fig. 7), and to release fingers 328b of support 328 when anvil cap 330 is disengaged from anvil head 326 (fig. 8). Inner ring assembly 334 includes a flexible cup 334a and a flexible annular flange 334b that couples flexible cup 334a to outer ring 332. The flexible cup 334a defines a pocket 334c and an aperture 334d that support the fastener 340 therein. The flexible cup 334a and the flexible annular flange 334b may be formed of any suitable material that is sufficiently flexible to enable the anvil cap 330 to move relative to the anvil head 326 from a first or engaged position (fig. 7) to a second or disengaged position (fig. 8) to selectively release the support 328 from the anvil head 326. In the engaged position, the outer ring 332 of the anvil cap 330 is configured to secure the fingers 328b of the support 328a to the top surface of the anvil head 326, and in the disengaged position, the outer ring 332 of the anvil cap 330 is spaced from the top surface of the anvil head 326 to enable the fingers 328b of the support 328a to separate from the anvil head 326 and release the support 328 from the anvil head 326.

The catch 340 of the anvil assembly 324 includes a head portion 342 that seats in the pocket 334c of the flexible cup 334a of the anvil cap 330 to hold the flexible cup 334a against the top surface of the anvil 326. The fastener 340 further includes a threaded shaft portion 344 extending proximally from the head portion 342 for threaded engagement with the fastener aperture 326e of the anvil 326 to secure the anvil cap 330 to the anvil 326. The head portion 342 defines a drive recess 342a in a top surface thereof that is configured to receive a drive instrument (not shown), such as a screwdriver, to secure the fastener 340 to the anvil cap 330 and the anvil head 326. The drive notch 342a can have any suitable configuration, e.g., star-shaped, cross-shaped, hexalobal, etc.

The cartridge assembly 310 of the end effector 300 includes a housing 312, a pusher 313 for firing fasteners 317 (e.g., staples) into an anvil assembly 320, a cylindrical knife 314 for cutting tissue, and a staple cartridge 315 for supporting the fasteners 317 in the cartridge assembly 310. Cartridge assembly 310 further includes an outer drive sleeve 318 configured to distally advance pusher 313 relative to staple cartridge 315, as indicated by arrow "a"; and an inner drive sleeve 319 supported on the outer drive sleeve 318. Inner drive sleeve 319 is configured to distally advance cylindrical knife 314 relative to staple cartridge 315 as outer drive sleeve 318 distally advances pusher 313 relative to staple cartridge 315 for forming fasteners 317 against anvil heads 326 of anvil assembly 320, as indicated by arrow "B".

The housing 312 of the cartridge assembly 310 is secured to the distal end portion of the elongate body 202 of the adapter assembly 202 (fig. 1). The shell 312 includes: an outer housing 312a configured to support a staple cartridge 315; and an inner housing 312b configured to receive the center rod assembly 322 of the anvil assembly 320 therein; and a coupling portion 312x configured to couple the cartridge assembly 310 to the elongate body 202 of the adapter assembly 200.

The pusher 313 of the cartridge assembly 310 is slidably positioned around the inner housing 312b of the casing 312. The pusher 313 comprises an annular array of distally extending fingers 313a configured to support an array of fasteners 317. One or more of the fingers 313a and/or one or more of the catches 317 may have different heights. In some embodiments, one or more of the fingers 313a and/or one or more of the catches 317 may have the same height.

The cylindrical knife 314 of the cartridge assembly 310 is frictionally retained within the pusher 313 to fixedly secure the knife 314 with respect to the pusher 313. The distal end of the knife 314 includes a circular cutting edge 314a configured to sever tissue.

Staple cartridge 315 of cartridge assembly 310 comprises a tissue contacting surface 315a wherein an annular array of slots 315b are formed and positioned in alignment with staple forming pockets 326b of anvil head 326. The annular array of slots 315b of staple cartridge 315 is configured to support and slidably receive an annular array of fasteners 317 therein.

Referring now to fig. 7-10, in operation, once end effector 300 of surgical stapling apparatus 10 is positioned adjacent a surgical site, anvil assembly 320 of end effector 300 can be approximated toward cartridge assembly 310 of end effector 300 to grasp tissue between cartridge assembly 310 and anvil assembly 320. The stapling apparatus 10 can then be fired such that the outer drive sleeve 317 and the inner drive sleeve 319 advance the pusher 313 and cylindrical knife 314 distally for firing the fastener 317 into and cutting the tissue "T". As the cylindrical knife 314 advances axially through the support 328 and into engagement with the pad 327 of the anvil assembly 320, the cylindrical knife 314 moves the pad 327 of the anvil assembly 320 relative to the anvil head 326, as indicated by arrow "C". Movement of the backing plate 327 relative to the anvil head 326 from its first position (fig. 7) to its second position (fig. 8) causes the backing plate 327 to drive the pin 336 of the anvil cap 330 distally relative to the anvil head 326, as indicated by arrow "E". As pin 336 moves distally relative to anvil head 326, outer ring 332 of anvil cap 330 separates from support 328 and anvil head 326. In particular, with the fastener 340 of the anvil assembly 320 holding the flexible cup 334a of the inner ring assembly 334 of the anvil cap 330 secured to the anvil head 326 of the anvil assembly 320, the inner ring assembly 334, i.e., the flexible cup 334a and the flexible annular flange 334b thereof, moves distally and radially inward, as indicated by arrow "F", from a first state (e.g., where the inner ring assembly 334 is in an unflexed state, see fig. 7) to a second state (e.g., where the inner ring assembly 334 is in a flexed state, see fig. 8) to facilitate movement of the outer ring 332 of the anvil cap 330 away from the support 328. As the outer ring 332 moves away from the anvil 326 and the fingers 328b of the support 328, the support 328 is released from the anvil 326 such that when the end effector 300 is fired and released, the support 328 may separate from the anvil assembly 320 and provide staple line reinforcement of the fastener 317 against the tissue "T". Advantageously, this separation of the supports reduces or eliminates staple line pressure.

Once the end effector 300 is fired, the anvil assembly 320 of the end effector 300 may then be disengaged (e.g., loosened) from the cartridge assembly 310 of the end effector 300 such that the anvil assembly 320 moves from the untilted position (fig. 8) to the tilted position (fig. 9) to release stapled tissue and remove the end effector 300 from the surgical site. The anvil assembly 320 and/or cartridge assembly 310 can then be removed from the surgical stapling apparatus 10 and/or replaced as desired. For a more detailed description of the initiation, cutting, and/or fastening of the fastener 317 and/or replacement of the anvil assembly 320 and/or the cartridge assembly 310, reference may be made to U.S. Pat. No. 7,303,106, which is incorporated herein.

Referring to fig. 11 and 12, another embodiment of the anvil assembly 420 includes an anvil-head assembly 424 that is substantially similar to the anvil assembly 324, but includes a pin 436 that is separate or independent from the anvil cap 430.

As can be appreciated, fastening any of the components of the disclosed apparatus can be accomplished using known fastening techniques such as welding, crimping, gluing, fastening, and the like.

The various embodiments disclosed herein may also be configured to work with robotic surgical systems, and are commonly referred to as "teleoperated surgery. Such systems use various robotic elements to assist the clinician and allow remote operation (or partial remote operation) of the surgical instrumentation. Various robotic arms, gears, cams, pulleys, motors, mechanical motors, and the like may be used for this purpose, and may be designed with a robotic surgical system to assist the clinician during the procedure or treatment procedure. Such robotic systems may include remotely steerable systems, automated flexible surgical systems, remote articulated surgical systems, wireless surgical systems, modular or selectively configurable teleoperated surgical systems, and the like.

The robotic surgical system may be used with one or more consoles proximate to an operating room or located in remote locations. In this example, one team of clinicians may prepare a patient for surgery and configure the robotic surgical system with one or more of the instruments disclosed herein, while another clinician (or a group of clinicians) remotely controls the instruments via the robotic surgical system. As can be appreciated, a highly skilled clinician can perform multiple operations at multiple locations without leaving his/her remote console, which is economically advantageous and also beneficial for a patient or a series of patients. For a detailed description of an exemplary medical workstation and/or components thereof, reference may be made to U.S. patent application publication No. 2012/0116416 and PCT application publication No. WO2016/025132, the entire contents of each of which are incorporated herein by reference.

Those of ordinary skill in the art will understand that the structures and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the description, disclosure, and figures are to be interpreted merely as illustrating specific embodiments. Accordingly, it is to be understood that the present disclosure is not limited to the precise embodiments described, and that various other changes and modifications may be affected therein by one of ordinary skill in the related art without departing from the scope or spirit of the disclosure. In addition, it is contemplated that elements and features illustrated or described in connection with one exemplary embodiment may be combined with elements and features of another exemplary embodiment without departing from the scope of the present disclosure, and that such modifications and variations are also intended to be included within the scope of the present disclosure. Indeed, any combination of any of the presently disclosed elements and features is within the scope of the present disclosure. Accordingly, the subject matter of the present disclosure is not limited by what has been particularly shown and described.