阅读说明：本技术 患者导引器对准 (Patient introducer alignment ) 是由 杰弗里·威廉·德拉珀 塞尔吉奥·L·小马丁内斯 瑞安·杰弗里·康诺利 艾伦·江 大卫·保罗· 于 2018-03-26 设计创作，主要内容包括：公开了一种用于与手术机器人系统一起使用的患者导引器。在一方面中,患者导引器可以包括导引器管,该导引器管在(i)可连接至端口的远端与(ii)被配置成接纳手术工具的近端之间延伸。导引器管可以被配置成将手术工具引导至端口中。患者导引器还可以包括对准构件,该对准构件连接至导引器管并且包括第一形状和第一对准标记。对准构件可以被配置成与机器人系统的操纵器组件接口。操纵器组件可以包括第二形状和第二对准标记,第一形状与第二形状互补。对准构件的第一对准标记可以便利对准构件和操纵器组件的旋转对准。(A patient introducer for use with a surgical robotic system is disclosed. In one aspect, the patient introducer may include an introducer tube extending between (i) a distal end connectable to the port and (ii) a proximal end configured to receive a surgical tool. The introducer tube may be configured to guide a surgical tool into the port. The patient guide may also include an alignment member connected to the guide tube and including a first shape and a first alignment mark. The alignment member may be configured to interface with a manipulator assembly of the robotic system. The manipulator assembly may include a second shape and a second alignment mark, the first shape being complementary to the second shape. The first alignment mark of the alignment member may facilitate rotational alignment of the alignment member and the manipulator assembly.)

1. A patient introducer, comprising:

an introducer tube extending between (i) a distal end connectable to a port and (ii) a proximal end configured to receive a surgical tool, the introducer tube configured to guide the surgical tool into the port; and

an alignment member connected to the guide tube and comprising a first shape and a first alignment mark, the alignment member configured to interface with a manipulator assembly of a robotic system, the manipulator assembly comprising a second shape and a second alignment mark, the first shape being complementary to the second shape,

wherein the first alignment mark of the alignment member facilitates rotational alignment of the alignment member and the manipulator assembly.

2. The patient introducer of claim 1, wherein the manipulator assembly comprises an Instrument Device Manipulator (IDM) connected to a distal end of a first arm of the robotic system.

3. The patient introducer of claim 2, wherein:

the manipulator assembly further comprises a sterile adaptor, and

the second alignment mark is positioned on the sterile adapter.

4. The patient introducer of claim 2, wherein the alignment member comprises:

a first curved surface complementary to a second curved surface of the IDM; and

an elongated protrusion complementary to the upper surface of the IDM,

wherein the first curved surface and the elongated protrusion are configured to limit movement of the IDM in at least one dimension.

5. The patient introducer of claim 4, wherein:

the first alignment mark comprises a plurality of first alignment marks on the alignment member,

the second alignment mark includes a plurality of second alignment marks on the IDM,

each of the first alignment marks is configured to be aligned with a respective one of the second alignment marks, and

the first alignment marker is arranged on the alignment member such that, in use, at least one of the first alignment markers is not obscured from view by the IDM when viewed from one of a plurality of vantage points.

6. The patient introducer of claim 4, wherein:

the first alignment mark comprises a first band on an upper surface of the elongated protrusion of the alignment member,

the second alignment mark includes a strip formed on the upper surface of the IDM, and

the band has a width greater than a width of the second band, the width of the first band corresponding to a tolerance range of rotational alignment of the IDM with the alignment member.

7. The patient introducer of claim 2, wherein:

the alignment member is further configured to interface with a sterile adapter connected to the IDM, the sterile adapter including a third alignment marker,

in use, alignment of the first alignment mark of the alignment member with the third alignment mark of the sterile adapter facilitates rotational alignment of the alignment member and the sterile adapter.

8. The patient introducer of claim 2, wherein, in use, alignment of the first alignment mark of the alignment member with the second alignment mark of the IDM defines an initial position of the IDM relative to the alignment member in six degrees of freedom.

9. The patient introducer of claim 1, wherein:

the alignment member includes a Radio Frequency Identification (RFID) tag,

the manipulator assembly includes an RFID reader, and

positioning the alignment member and the manipulator assembly based on an RFID signal between the RFID reader and the RFID tag facilitates rotational alignment of the alignment member and the manipulator assembly in use.

10. A method of positioning a patient introducer and a robotic arm of a surgical robotic system, the method comprising:

aligning a patient introducer to a port, the patient introducer comprising:

a guide tube extending between (i) a distal end connectable to the port and (ii) a proximal end configured to receive a surgical tool from the robotic arm, the guide tube configured to guide the surgical tool into the port, and

an alignment member connected to the guide tube and comprising a first shape and a first alignment mark;

placing the robotic arm in an alignment position, wherein a distal end of the robotic arm has a manipulator assembly attached thereto, the manipulator assembly comprising a second shape and a second alignment mark, the second shape being complementary to the first shape; and

rotationally aligning the manipulator assembly and the alignment member based on aligning the second alignment mark of the manipulator assembly with the first alignment mark of the alignment member.

11. The method of claim 10, wherein the alignment member comprises:

a first surface complementary to a second surface of the IDM; and

an elongated protrusion complementary to the upper surface of the IDM,

wherein the first surface and the elongated protrusion are configured to limit movement of the IDM in at least one dimension.

12. The method of claim 11, wherein aligning the IDM and the alignment member comprises:

moving the IDM such that the second surface of the IDM is in contact with the first surface of the alignment member;

moving the IDM along the first surface of the alignment member until the upper surface of the IDM contacts the elongated protrusion; and

moving the IDM relative to the alignment member until the second alignment mark on the IDM is aligned with the first alignment mark of the alignment member.

13. The method of claim 10, wherein:

the surgical robotic system includes an additional robotic arm having an additional IDM attached thereto,

the IDM and the additional IDM being positionable, in use, along an axis to form a virtual track defining a volume of space in which the IDM and the additional IDM are disposed during manipulation of the surgical tool, an

The method further comprises the following steps: manipulating the surgical tool based on movement of at least one of the IDM and the additional IDM within the volume defined by the virtual trajectory.

14. A patient introducer, comprising:

a guide tube configured to receive a surgical tool and guide the surgical tool into a patient; and

an alignment member connected to the guide tube, the alignment member configured to interface with and facilitate rotational alignment with a manipulator assembly of a surgical robotic system.

15. The patient introducer of claim 14, further comprising:

a mounting member connectable to a patient bed, the mounting member defining a position of the patient introducer relative to the patient bed,

wherein:

the manipulator assembly includes an Electromagnetic (EM) sensor configured to sense an EM field generated by an EM generator disposed on or near the patient bed based on a positioning of the EM sensor relative to the EM generator.

16. The patient introducer of claim 14, wherein the alignment member comprises an acoustic reflector configured to reflect acoustic waves received from acoustic emitters in the manipulator assembly based on positioning of the acoustic reflector relative to the acoustic emitters.

17. The patient introducer of claim 14, wherein the alignment member comprises a magnet configured to generate a magnetic field based on a positioning of the magnet relative to a magnetic field sensor in the manipulator assembly.

18. The patient introducer of claim 14, wherein the alignment member comprises:

a first surface complementary to a second surface of the manipulator assembly;

an elongated protrusion complementary to an upper surface of the manipulator assembly; and

at least one first marker positioned on the alignment member for facilitating rotational alignment with at least one second marker on the manipulator assembly.

19. The patient introducer of claim 14, wherein the alignment member comprises a surface having at least three protrusions configured to be inserted into at least three corresponding features in the manipulator assembly.

20. The patient introducer of claim 19, wherein:

the manipulator assembly further includes at least three indicia corresponding to distal ends of the at least three protrusions of the alignment member, and

wherein alignment of the at least three protrusions with the at least three features occurs when each of the protrusions of the alignment member contacts a respective marker on the manipulator assembly.

21. The patient introducer of claim 14, wherein:

the alignment member defines a hollow cavity comprising a shape complementary to a protrusion in the manipulator assembly, and

rotational alignment of the alignment member with the manipulator assembly occurs when, in use, the projection of the manipulator assembly is fully inserted into the cavity.

22. A surgical robotic system comprising:

a robot arm; and

a manipulator assembly attached to a distal end of the robotic arm, the manipulator assembly configured to control a surgical tool to insert the surgical tool into a patient introducer,

wherein the manipulator assembly is configured to interface with an alignment member of the patient introducer and facilitate rotational alignment with the patient introducer.

23. The surgical robotic system according to claim 22, wherein the manipulator assembly includes a Radio Frequency Identification (RFID) reader configured to receive an RFID signal from an RFID tag in the patient introducer based on a positioning of the RFID reader relative to the RFID tag.

24. The surgical robotic system according to claim 23, wherein a peak in the strength of the RFID signal indicates that the manipulator assembly is aligned with the patient introducer.

25. The surgical robotic system according to claim 22, wherein the manipulator assembly includes a laser emitter and a laser sensor configured to sense laser light emitted from the laser emitter and reflected by a laser reflector in the patient introducer based on a positioning of the laser emitter relative to the laser reflector.

26. The surgical robotic system according to claim 22, wherein the manipulator assembly includes a laser emitter configured to emit a laser beam onto the alignment mark based on a positioning of the laser emitter relative to the alignment mark on the alignment member.

27. The surgical robotic system according to claim 22, wherein the manipulator assembly includes a magnetic field sensor configured to sense a magnetic field generated by a magnet in the patient introducer based on a positioning of the magnetic field sensor relative to the magnet.

28. The surgical robotic system according to claim 22, further comprising:

an input device configured to receive an input command to initiate alignment of the manipulator assembly with the patient introducer,

wherein the manipulator assembly is configured to be placed in an aligned position in response to the input device receiving the input command.

29. The surgical robotic system according to claim 22, further comprising:

a processor; and

a memory storing instructions that, when executed by the processor, cause the processor to store an alignment position of the robotic arm in response to the manipulator assembly being aligned with the patient introducer.

30. The surgical robotic system according to claim 22, further comprising:

an additional robotic arm to which an additional manipulator assembly is attached,

wherein the manipulator assembly and the additional manipulator assembly are connected to a system cart and are positionable along an axis in use to form a virtual track defining a volume of space in which the manipulator assembly and the additional manipulator assembly are arranged during manipulation of the surgical tool, and

the alignment of the manipulator assembly with the patient introducer, in use, positions the robotic arm and the additional robotic arm such that movement of the manipulator assembly and the additional manipulator assembly within the virtual trajectory during manipulation of the surgical tool is unrestricted.

Technical Field

The present disclosure relates generally to alignment devices, and more particularly to a patient introducer including alignment members for aligning the patient introducer with a manipulator assembly of a robotic system.

Background

Medical procedures such as endoscopy (e.g., bronchoscopy) may involve accessing and visualizing the interior of a patient's luminal network (e.g., airway) for diagnostic and/or therapeutic purposes. The surgical robotic system may be used to control insertion and/or manipulation of surgical tools, such as, for example, insertion and/or manipulation of an endoscope during an endoscopic procedure. The surgical robotic system may include at least one robotic arm, wherein the robotic arm includes a manipulator assembly for controlling positioning of a surgical tool during a procedure. The surgical tool may be introduced into the patient's cavity network via a patient introducer, which may receive the surgical tool from the manipulator assembly and guide the surgical tool into the patient's cavity network.

Disclosure of Invention

The systems, methods, and devices of the present disclosure each have several innovative aspects, none of which are solely responsible for the desirable attributes disclosed herein.

In one aspect, there is provided a patient introducer comprising: an introducer tube extending between (i) a distal end connectable to the port and (ii) a proximal end configured to receive a surgical tool, the introducer tube configured to guide the surgical tool into the port; and an alignment member connected to the guide tube and comprising a first shape and a first alignment mark, the alignment member configured to interface with a manipulator assembly of the robotic system. The manipulator assembly may include a second shape and a second alignment mark, the first shape being complementary to the second shape, wherein the first alignment mark of the alignment member facilitates rotational alignment of the alignment member and the manipulator assembly.

In another aspect, a method of positioning a patient introducer and a robotic arm of a surgical robotic system is provided. The method may involve aligning a patient introducer to the port, the patient introducer comprising: a guide tube extending between (i) a distal end connectable to the port and (ii) a proximal end configured to receive a surgical tool from the robotic arm, the guide tube configured to guide the surgical tool into the port; and an alignment member connected to the guide tube and including a first shape and a first alignment mark. The method may also involve placing the robotic arm in an alignment position, wherein a distal end of the robotic arm has a manipulator assembly attached thereto, the manipulator assembly including a second shape and a second alignment mark, the second shape being complementary to the first shape. The method may further involve: the manipulator assembly and the alignment member are rotationally aligned based on aligning the second alignment mark of the manipulator assembly with the first alignment mark of the alignment member.

In yet another aspect, a patient introducer is provided, the patient introducer comprising: an introducer tube configured to receive a surgical tool and guide the surgical tool into a patient; and an alignment member connected to the guide tube, the alignment member configured to interface with and facilitate rotational alignment with a manipulator assembly of the surgical robotic system.

In yet another aspect, there is provided a surgical robotic system comprising: a robot arm; and a manipulator assembly attached to a distal end of the robotic arm, the manipulator assembly configured to control a surgical tool to insert the surgical tool into a patient introducer. The manipulator assembly may be configured to interface with an alignment member of a patient introducer and facilitate rotational alignment with the patient introducer.

Drawings

The disclosed aspects will hereinafter be described in conjunction with the appended drawings and appendices, which are provided to illustrate and not to limit the disclosed aspects, wherein like designations denote like elements.

Fig. 1A illustrates an example operating environment including an example surgical robotic system, according to aspects of the present disclosure.

FIG. 1B illustrates an example cavity network that may be navigated within the operating environment of FIG. 1A.

FIG. 1C illustrates an example robotic arm of a robotic surgical system for guiding a surgical tool through the cavity network of FIG. 1B.

FIG. 2 illustrates an example command console that can be used in the example operating environment of FIG. 1A.

Fig. 3A illustrates an example patient introducer in accordance with one or more aspects of the present disclosure.

Fig. 3B illustrates an embodiment of a system and method for aligning a surgical robotic system cart with a patient introducer, according to aspects of the present disclosure.

Fig. 4A and 4B illustrate an embodiment of an alignment member for use during an alignment process according to aspects of the present disclosure.

Fig. 5A-5H illustrate embodiments of alignment marks that may be used to aid in rotational alignment of a manipulator assembly with an alignment member according to aspects of the present disclosure.

Fig. 6 provides a flow diagram illustrating an example method of aligning a surgical robotic system cart with a patient introducer, in accordance with aspects of the present disclosure.

Fig. 7-10 provide flow diagrams illustrating examples of further aspects of the alignment method of fig. 6.

Detailed Description

Embodiments of the present disclosure relate to systems and techniques to facilitate alignment of a patient introducer with a surgical robotic system. The patient introducer may serve as a guide for a surgical tool (e.g., an endoscopic tool) and may guide the surgical tool into a port (e.g., an endotracheal tube) to introduce the endoscopic tool into the patient. As used herein, a "port" may refer to a device partially insertable into a lumen of a patient, the device configured to guide a surgical tool into a surgical site. Additional examples of ports include, but are not limited to, endotracheal tubes, gastrointestinal tubes, cannulas, cystoscopic sheaths, and the like. Certain embodiments of the patient introducer may guide the surgical tool along a curved path, where the entry and exit points of the patient introducer are formed along a curved path, rather than along a straight line. This curvature of the patient introducer enables the arms of the surgical robot to be positioned outside of the straight line extending from the port, providing a more practical and/or convenient placement of the surgical robotic system cart to which the robotic arm is attached. That is, without the curved access provided by the patient introducer, the arms of the surgical robotic system may need to be substantially aligned with the axis of the port for proper control of the surgical tool, which may be impractical in some situations.

As used herein, the term "about" refers to a measurement range of length, thickness, number, time period, or other measurable value. Such measurement ranges include variations of +/-10% or less, preferably +/-5% or less, more preferably +/-1% or less, and still more preferably +/-0.1% or less, relative to the specified values, as long as such variations are appropriate to function in the disclosed devices, systems, and techniques.

For purposes of illustration, various embodiments are described below in conjunction with the following figures. It should be understood that many other implementations of the disclosed concept are possible and that various advantages can be achieved with the disclosed implementations. Headings are included herein for reference and to aid in locating the various sections. These headings are not intended to limit the scope of the concepts described with respect to the headings. These concepts may have applicability throughout the present specification.

Overview of an example surgical robotic System

Although described in connection with bronchoscopy embodiments, the embodiments discussed herein may also cover other types of medical or surgical procedures that may be performed by a surgical robotic system, such as cardiology, urology, gastroenterology, laparoscopy, and/or other related or similar surgical procedures, including surgical procedures in which surgical tools are introduced into a patient via, for example, a port mounted on and/or partially inserted into the patient.

Fig. 1A illustrates an example operating environment implementing one or more aspects of the disclosed surgical robotic systems and techniques. The operating environment 100 includes a patient 101, a platform 102 (also referred to as a table or a bed) supporting the patient 101, a surgical robotic system 110 (also referred to simply as a robotic system) guiding movement of a surgical tool 115 (e.g., an endoscopic tool also referred to simply as an endoscope 115), and a command center 105 for controlling operation of the surgical robotic system 110. Fig. 1A also shows an outline of a region of the cavity network 140 within the patient 101, the cavity network 140 being shown in more detail in fig. 1B.

The surgical robotic system 110 may include one or more robotic arms for positioning the endoscope 115 and guiding the endoscope 115 to move through the lumen network 140 of the patient 101. The command center 105 may be communicatively coupled to the surgical robotic system 110 for receiving position data and/or providing control signals from a user. As used herein, "communicatively coupled" refers to any wired and/or wireless data transfer medium, including, but not limited to, a Wireless Wide Area Network (WWAN) (e.g., one or more cellular networks), a Wireless Local Area Network (WLAN) (e.g., configured for one or more standards, such as IEEE 802.11(Wi-Fi)), bluetooth, a data transfer cable, and the like. The surgical robotic system 110 is discussed in more detail with respect to fig. 1C, and the command center 105 is discussed in more detail with respect to fig. 2.

The endoscope 115 may be, for example, a tubular and flexible surgical instrument, and in use the endoscope 115 is inserted into a patient's anatomy to capture images of the anatomy (e.g., body tissue) and provide a working channel for inserting other medical instruments to the target tissue site. In some implementations, the endoscope 115 can be a bronchoscope. The endoscope 115 may include one or more imaging devices (e.g., a camera or other type of optical sensor) at the distal end of the endoscope 115. The imaging device may include one or more optical components, such as an optical fiber, an optical fiber array, a photosensitive substrate, and/or a lens. The optical components move with the tip of the endoscope 115 such that movement of the tip of the endoscope 115 causes a corresponding change in the field of view of the images captured by the imaging device.

FIG. 1B illustrates an example cavity network that may be navigated within the operating environment of FIG. 1A. The cavity network 140 includes a branched structure of an airway 150 of the patient 101 and a lesion (version) 155 that may be accessed for diagnosis and/or treatment as described herein. As shown, the lesion 155 is located at the periphery of the airway 150. The endoscope 115 has a first diameter, and thus the distal end of the endoscope 115 cannot be positioned through the smaller diameter airway around the lesion 155. Thus, the steerable catheter 145 extends the remaining distance from the working channel of the endoscope 115 to the lesion 155. Steerable catheter 145 can have a lumen through which instruments such as a biopsy needle, cytobrush, and/or tissue sampling forceps can pass to reach the target tissue site of lesion 155. In such implementations, both the distal end of the endoscope 115 and the distal end of the steerable catheter 145 may be provided with Electromagnetic (EM) sensors for tracking the position of the endoscope 115 and the steerable catheter 145 within the airway 150. In other embodiments, the overall diameter of endoscope 115 may be small enough to reach the outer periphery without steerable catheter 155, or may be small enough to approach the outer periphery (e.g., within 2.5cm to 3 cm) to deploy a medical instrument through a non-steerable catheter.

In some embodiments, a 2D display of a 3D cavity network model as described herein or a cross-section of the 3D model may be similar to fig. 1B.

Fig. 1C illustrates an example robotic arm of a surgical robotic system for guiding a surgical tool through the cavity network of fig. 1B. The surgical robotic system 110 may include, for example, a surgical robotic system cart 180 (also referred to simply as a cart or a base) coupled to one or more robotic arms, such as robotic arm 175 (also referred to simply as an arm). Although the embodiments discussed herein are described with respect to a particular embodiment of a cart method (e.g., the robotic arm 175 is positioned on the surgical robotic system cart 180), other embodiments of the present disclosure may also relate to other methods, such as, for example, a table method in which the patient 101 is lying on a table (e.g., the platform 102) and the robotic arm 175 is also attached to the table. The robotic arm 175 includes a plurality of arm segments 170 coupled at a joint 165, the joint 165 providing the robotic arm 175 with multiple degrees of freedom. As an example, one implementation of the robotic arm 175 may have seven degrees of freedom corresponding to seven arm segments. In some embodiments, the robotic arm 175 includes a set-up joint that uses a combination of brakes and counterweights (counter-balance) to maintain the position of the robotic arm 175. The counterbalance may comprise a gas spring or a coil spring. The brake, e.g. the fail-safe brake, may comprise mechanical and/or electrical components. Further, the robotic arm 175 may be a gravity assisted passively supported robotic arm.

Robotic arm 175 may be coupled to a manipulator assembly (e.g., an Instrument Device Manipulator (IDM)190) using Mechanism Conversion Interface (MCI) 160. As used herein, "manipulator assembly" may refer to IDM190 as well as any other instrument connected to or integrated with IDM 190. For example, a sterile adapter may be connected to IDM190 for certain surgical procedures where sterility is necessary for the manipulator assembly. The sterile adaptor may be part of, for example, a sterile drape (drapee) covering one or more sterile components of the surgical robotic system, and may facilitate maintaining a sterile interface between the IDM190 and the robotic arm 175 or one or more components of the surgical tool 115, thereby providing a barrier between the non-sterile components of the robotic system and the sterile surgical field or area. The sterile adapter may cover certain indicia on IDM190, and thus, in some embodiments, the sterile adapter may include indicia formed thereon. The markings on the sterile adapter may be positioned at locations corresponding to the markings on IDM 190. IDM190 may be removed and replaced with a different type of IDM, such as a first type of IDM configured to handle endoscopes or a second type of IDM configured to handle laparoscopes. MCI 160 includes connectors for transmitting pneumatic pressure, electrical power, electrical signals, and/or optical signals from robotic arm 175 to IDM 190. The MCI 160 may be a set screw or a backplane connector. IDM190 may use techniques including direct drive, harmonic drive, gear drive, belts and pulleys, magnetic drive, etc. to manipulate a surgical tool or instrument, such as endoscope 115. In certain implementations, MCI 160 is interchangeable based on the type of IDM190 and may be customized for a particular type of surgical procedure. The robotic arm 175 may include a wrist at a distal end and joint-level torque sensing.

The robotic arm 175 of the surgical robotic system 110 may use the elongated moving member to maneuver the endoscope 115. The elongated moving member may comprise a pull wire, also known as a pull wire or a push wire, a cable, an optical fiber or a flexible shaft. For example, the robotic arm 175 may actuate a plurality of pull wires coupled to the endoscope 115 to deflect the tip of the endoscope 115. The puller wire may include both metallic and non-metallic materials, e.g., stainless steel, kevlar, tungsten, carbon fiber, etc. The endoscope 115 may exhibit non-linear behavior in response to forces applied by the elongated moving member. The non-linear behavior may be based on the stiffness and compressibility of the endoscope 115, as well as the relaxation or variability in stiffness between different elongated moving members.

The base 180 may be positioned such that the robotic arm 175 may access to perform or assist in a surgical procedure on a patient, while a user, such as a physician, may control the surgical robotic system 110 according to the comfort of the command console 105. In some embodiments, the base 180 may be coupled to a surgical console or bed for supporting the patient 101. The base 180 may be communicatively coupled to the command console 105 shown in FIG. 1A.

The base 180 may include a power source 182, pneumatic pressure 186, and control and sensor electronics 184, including components such as, for example, a central processing unit (also referred to simply as a processor), a data bus, control circuitry, and/or memory, and associated actuators such as motors for moving the robotic arm 175. The electronics 184 can implement navigation control techniques, security modes, and/or data filtering techniques. The electronics 184 in the base 180 may also process and transmit control signals transmitted from the command console 105. In some embodiments, the base 180 includes wheels 188 for transporting the surgical robotic system 110 and a wheel lock/brake (not shown) for the wheels 188. The mobility of the surgical robotic system 110 helps to accommodate space constraints in the operating room and facilitates proper positioning and movement of surgical equipment in order to align the base 180 and/or IDM190 with the patient. Further, the mobility enables the robotic arm 175 to be aligned with the patient 101 and/or the platform 102 such that the robotic arm 175 does not interfere with the patient, physician, anesthesiologist, or any other equipment during the procedure. A user may control the robotic arm 175 using a control device, such as a command console, to perform various processes.

FIG. 2 illustrates an example command console 200 that may be used, for example, as the command console 105 in the example operating environment 100. The command console 200 includes a console base 201, a display module 202, such as a monitor, and a control module or input device, such as a keyboard 203 and/or joystick 204. In some embodiments, one or more of the command console 200 functions may be integrated into the base 180 of the surgical robotic system 110 or communicatively coupled to another system of the surgical robotic system 100. A user 205, such as a physician, may use the command console 200 to remotely control the surgical robotic system 100 from an ergonomic position.

The console base 201 may include a central processing unit, memory unit, data bus and associated data communication ports that are responsible for interpreting and processing signals such as camera images and tracking sensor data from the endoscope 115 shown in fig. 1A-1C, for example. In some embodiments, both console base 201 and base 180 perform signal processing for load balancing. The console base 201 may also process commands and instructions provided by the user 205 through the control modules 203 and 204. In addition to the keyboard 203 and joystick 204 shown in fig. 2, the control module may include other devices that capture hand and finger gestures, such as a computer mouse, a touch pad, a track ball, a control pad, a video game controller, and sensors (e.g., motion sensors or camera devices).

In some embodiments, the user 205 may use the command console 200 to control a surgical instrument, such as the endoscope 115, in either a speed mode or a position control mode. In the speed mode, the user 205 directly controls the yaw and pitch motions of the distal end of the endoscope 115 based on direct manual control using the control module. For example, movement on the joystick 204 may be mapped to yaw and pitch movements in the distal end of the endoscope 115. The joystick 204 may provide tactile feedback to the user 205. For example, the joystick 204 may vibrate to indicate that the endoscope 115 cannot be further translated or rotated in a certain direction. The command console 200 may also provide visual feedback (e.g., a pop-up message) and/or audio feedback (e.g., a beep or other audible alert) to indicate that the endoscope 115 has reached a maximum translation or rotation. As described in more detail below, since the system operates in a safe mode during patient exhalation, tactile and/or visual feedback may also be provided.

In position control mode, the command console 200 controls a surgical tool or instrument, such as the endoscope 115, using a three-dimensional (3D) map of the patient lumen network as described herein and input from navigation sensors. The command console 200 provides control signals to the robotic arm 175 of the surgical robotic system 110 to maneuver the endoscope 115 to the target location. The position control mode may require an accurate mapping of the anatomy of the patient 101, since it relies on 3D maps.

In some embodiments, the user 205 may manually manipulate the robotic arm 175 of the surgical robotic system 110 without using the command console 200. For example, the IDM190, the robotic arms, and/or another portion of the surgical robotic system 110 may include a permission button 410 (shown in the example of fig. 4B), which the user may press to initiate manual control of one or more of the robotic arms 175. In one embodiment, as the user continues to press permission button 410, the respective robotic arm 175 may allow user 205 to manually position IDM190 by applying a physical force to IDM190 and/or robotic arm 175. As described above, the robotic arm 175 may include detents and/or counterweights for maintaining the position and/or orientation of the robotic arm 175. In some implementations, the permission button 410, when actuated by a user (e.g., when receiving input from a user), may at least partially disengage (disengage) a brake to enable movement of the robotic arm 175 in response to an external force applied to the permission button 410. In some embodiments, the robotic arm 175 may include an actuator configured to apply a torque to the robotic arm 175 to maintain the spatial positioning and orientation of the robotic arm 175. The robotic arm 175 may be configured to reduce the torque applied to the robotic arm 175 by the actuator in response to the permission button 410 receiving an input from the user to enable movement of the robotic arm 175 in response to an external force applied to the permission button 410.

During setup in an operating room, the user 205 may move the robotic arm 102, endoscope 115, and other surgical devices to access the patient. As discussed in detail below, the setup may also involve the step of aligning one or more portions of the surgical robotic system 110 with the patient 101, the platform 102, and/or the patient guide. The surgical robotic system 110 may rely on force feedback and inertial control from the user 205 to determine the appropriate configuration of the robotic arm 175 and the device.

Display 202 may include one or more electronic monitors (e.g., LCD displays, LED displays, touch-sensitive displays), virtual reality viewing devices such as goggles or glasses, and/or other display devices. In some embodiments, the display module 202 is integrated with the control module, for example, into a tablet device having a touch screen. In some embodiments, one of the displays 202 may display a 3D model of the patient's luminal network and virtual navigation information (e.g., a virtual representation of the tip of the endoscope within the model based on the EM sensor locations), while the other of the displays 202 may display image information received from a camera or another sensing device at the tip of the endoscope 115. In some embodiments, the user 205 may both view data using the integrated display 202 and control module and input commands to the surgical robotic system 110. The display 202 may display 2D rendering of the 3D image and/or the 3D image using a stereoscopic device such as a visor or goggles. The 3D image provides an "inside view" (i.e., endoscopic view), which is a computer 3D model showing the anatomy of the patient. The "inside view" provides a virtual environment inside the patient and the desired position of the endoscope 115 inside the patient. The user 205 compares the "inside view" model to the actual image captured by the camera to help psychologically orient and confirm that the endoscope 115 is in the correct, or near correct, position within the patient. The "inside view" provides information about the anatomy surrounding the distal end of the endoscope 115, such as the shape of the patient's airway, circulating blood vessels, or the intestine or colon. The display module 202 may simultaneously display a 3D model of the anatomy surrounding the distal end of the endoscope 115 and a CT scan. In addition, the display module 202 may overlay the determined navigation path of the endoscope 115 on the 3D model and/or the CT scan.

In some embodiments, a model of the endoscope 115 is displayed along with the 3D model to help indicate the status of the surgical procedure. For example, CT scans identify lesions in the anatomy that may require biopsy. During operation, the display module 202 may show a reference image captured by the endoscope 115 corresponding to the current position of the endoscope 115. The display module 202 may automatically display different views of the model of the endoscope 115 depending on user settings and the particular surgical procedure. For example, the display module 202 shows a top-down fluorescent view of the endoscope 115 as the endoscope 115 approaches the surgical area of the patient during the navigation step.

Overview of patient introducer example

Fig. 3A illustrates an example patient introducer 301 in accordance with one or more aspects of the present disclosure. In the example of fig. 3A, patient introducer 301 is attached to patient 101 via port 320. In the embodiment shown in fig. 3A, port 320 may be a surgical tube. The patient introducer 301 may be secured to the platform 102 via a patient introducer holder 325. The patient introducer holder 325 may fix the position of the patient introducer 301 relative to the platform 102 and may also reduce the force applied to the patient 101 by the patient introducer 301 by supporting at least a portion of the weight of the patient introducer 301. Although the patient introducer holder 325 is shown on the same side of the platform 102 as the patient introducer 301, in some embodiments, the patient introducer holder 325 may be located on the opposite side of the platform 102 or any other suitable location, such as the head of the platform 102 or from another platform suspended above the patient. During certain procedures, it may be desirable to place the patient introducer holder 325 on the opposite side of the platform 102 relative to the patient introducer 301, as such placement may introduce less restriction to the motion of the robotic arm 175. For example, when the patient introducer holder 325 is positioned as shown in fig. 3A, the robotic arm 175 may be restricted from moving to the space occupied by the patient introducer holder 325. However, the described and illustrated placement of the patient introducer holder 325 is merely exemplary, and the patient introducer holder 325 may be placed at any location where the patient introducer 301 is at least partially supported by the patient introducer holder 325.

Patient introducer 301 may include a proximal end 303 and a distal end 305 and an introducer tube 307 between proximal end 303 and distal end 305. The proximal end 303 of the patient introducer 301 forms a first opening (also referred to as an orifice) that may be configured to receive a surgical tool 115 (e.g., an endoscopic tool), and the distal end 305 of the patient introducer 305 forms a second opening that may be configured to guide the surgical tool 115 into the port 320. A guide tube 307 connects the proximal end 303 and the distal end 305 of the patient guide 301 and guides the surgical tool 115 from the proximal end 303 of the patient guide 301 to the distal end 305 of the patient guide 301.

Between a first opening formed at the proximal end 303 of the patient guide 301 and a second opening formed at the distal end 305 of the patient guide 301, the guide tube 307 may have a defined curvature to guide the distal end of the surgical tool 115 along the guide tube 307 as the surgical tool 115 is advanced from the proximal end 303 to the distal end 305 of the guide tube 307. This may enable the surgical robotic system 110 to manipulate the surgical tool 115 from a position that is not directly axially aligned with the port 320, thereby enabling greater flexibility in placing the cart 180 of the surgical robotic system 110 indoors. That is, where the guide tube 307 has no curvature, the robotic arm may need to be substantially aligned with the main axis of the surgical tool above the head of the patient. Further, the curvature of the guide tube 307 may enable the robotic arm 175 of the surgical robotic system 110 to be substantially horizontally aligned with the patient guide 301, which may facilitate manual movement of the robotic arm 175 (if desired).

Fig. 3B illustrates an example embodiment of a system and method for aligning a surgical robotic system cart 180 with a patient introducer 301 according to aspects of the present disclosure. In this embodiment, patient introducer 301 also includes alignment members 309 that can help align robotic system cart 180 with patient introducer 301. The robotic arms 175 of the surgical robotic system 110 may be configured to align to form a virtual rail 330, the virtual rail 330 conceptually illustrated in fig. 3B by the dashed arrows. The virtual rail 300 may have a major axis that may be aligned with a first opening in the proximal end 303 of the patient introducer 301 (see fig. 3A). Additionally, the virtual rail may define a volume of space in which the manipulator assembly (e.g., IDM 190) is configured to be disposed during manipulation of the surgical tool 115 (e.g., during a surgical procedure). Accordingly, the alignment of the virtual rail 330 defined by the IDM190 with the patient introducer 301 may improve operational control of the surgical tool 115 during a surgical procedure as defined above.

As will be discussed in connection with various embodiments of alignment member 309, alignment member 309 provides a number of advantages for patient introducer 301 over patient introducers that do not include alignment member 309. For example, physical alignment of IDM190 with alignment member 309 may facilitate increased accuracy and faster alignment compared to other alignment techniques. Proper alignment of patient introducer 301 with IDM190 via use of alignment member 309 may prevent problems that may arise during a surgical procedure, such as, for example, elevated friction levels or situations requiring manual assistance during a surgical procedure. Another possible result of the misalignment that may be prevented is that the stroke length of the robotic arm 175 may be limited, which may limit the ability of the surgical robotic system 110 to control the distal end of the surgical tool 115 throughout the desired range of motion. Without a full range of motion, the surgical tool 115 may be prevented from accessing a target location within the cavity network 140, which may require realignment of the surgical robotic system cart 180 with the patient introducer 301 before performing the surgical procedure again.

Further, as described above, alignment member 309 of patient guide 301 may be configured to aid in the alignment of components of surgical robotic system 110 with patient guide 301. In at least one embodiment, alignment member 309 may be configured to physically contact one of IDMs 190 and/or may include markings (also referred to as markers), wherein complementary ones of these markings may be formed on at least one IDM190 for facilitating alignment.

The alignment of IDM190 with patient introducer 301 via the use of alignment member 309 may be geometrically defined by six degrees of freedom of movement of the body within three-dimensional space. That is, if patient introducer 301 is considered a fixed point in space, the alignment of IDM190 with patient introducer 301 may be specified by providing values for six degrees of freedom for the movement of IDM190 relative to patient introducer 301. These degrees of freedom may include the position (e.g., forward/backward (X-axis), left/right (Y-axis), up/down (Z-axis) as shown in fig. 3B) and/or orientation (e.g., pitch (rotation about Y-axis), yaw (rotation about Z-axis), and roll (rotation about X-axis)) of IDM 190. Although the position axes (X, Y, and Z axes) may be defined, located, and/or oriented in a variety of different ways, the present disclosure will refer throughout the present disclosure to these axes as shown in fig. 3B. Aspects of the present disclosure relate to methods and techniques for placing an IDM190 in an aligned position/orientation relative to a patient introducer 301 to align the IDM190 with the patient introducer 301. The surgical robotic system 110 may record the spatial position and/or orientation of the IDM190 during alignment so that the surgical robotic system 110 knows the spatial position and/or orientation of the patient introducer 301 during the surgical procedure.

The alignment of IDM190 with patient introducer 301 may also be defined by the alignment of one or more axes of IDM190 with one or more axes of patient introducer 301. For example, the patient introducer 301 may define an axis (which may be referred to herein as a receiving axis) along which the patient introducer 301 is configured to receive the surgical tool 115. Similarly, IDM190 may have an axis defined by virtual rail 330 (discussed above). In some embodiments, the alignment of IDM190 with patient guide 301 may be defined when the receiving axis of patient guide 301 is substantially aligned with virtual track 330 of IDM 190.

Example implementations of alignment members

Fig. 4A-4B and 5A-5H illustrate different embodiments of alignment member 309 and IDM190 according to aspects of the present disclosure. Fig. 4A and 4B illustrate an embodiment of alignment member 309 itself and alignment member 309 that contacts IDM190 during the alignment process, respectively.

Referring to fig. 4A and 4B, patient introducer 301 includes an alignment member 309 attached to the body or support structure of patient introducer 301. The alignment member 309 may be positioned proximal to the proximal end 303 of the guide tube 307. This position of alignment member 309 may facilitate alignment of the opening defined in proximal end 303 with IDM190 via physical contact between alignment member 309 and IDM 190. However, in other embodiments, the alignment member 309 may be attached to the patient introducer 301 at other locations or may be attached to the patient introducer holder 325. For example, knowing the distance between the alignment member 309 and the opening defined in the proximal end 303 of the guide tube 307, the surgical robotic system 110 may be able to accurately calculate the location of the IDM190 relative to the opening defined by the proximal end 303 of the patient guide 301 in response to the alignment of the IDM190 with the alignment member 309.

Alignment member 309 may include physical features, markings, and/or other alignment features to aid in alignment with IDM 190. In one implementation, alignment member 309 may include a first curved surface 311 and an elongated protrusion 313. The shape defined by first curved surface 311 and elongated protrusion 313 may form a shape that is complementary to the outer surface of IDM 190. As such, IDM190 may be at least partially aligned with alignment member 309 by bringing IDM190 into intimate physical contact (e.g., interface) with alignment member 309 as shown in fig. 4B. For example, after the outer curved surface of IDM190 contacts first curved surface 311 and the upper surface of IDM190 contacts elongated protrusion 313, the positioning of IDM190 in space relative to alignment member 309 may be defined by limiting further movement of IDM190 past first curved surface 311 and elongated protrusion 313. In addition, as shown in fig. 4B, the upper surface of IDM190 that contacts elongated protrusion 313 may not be the uppermost surface defined by IDM190, but may be defined by a recess. In other embodiments, the upper surface of IDM190 that contacts elongated protrusion 313 may be defined by a protrusion in the upper surface of IDM190, or may be flush with the rest of the upper surface. Similarly, the outer curved surface of IDM190 that contacts first curved surface 311 may be flush with the outer surface of the IDM, formed as a recess, or formed as a protrusion. Additional exemplary embodiments will be discussed in detail below.

Alignment of alignment member 309 with IDM190 is limited in four degrees of freedom (e.g., in the X and Y axes and in pitch and roll orientations) while first curved surface 311 of alignment member 309 remains in contact with the outer curved surface of IDM190 (e.g., a majority of first curved surface 311 is in contact or tight contact with the outer curved surface). Elongated protrusion 313 may be used to limit the orientation of alignment member 309 and IDM190 in the Z-axis degree of freedom.

Physical contact between IDM190 and alignment member 309 may be sufficient to define the spatial positioning of IDM190 relative to alignment member 309; however, in some embodiments, physical contact may not be sufficient for full rotational alignment between IDM190 and alignment member 309 in each of the rotational degrees of freedom (e.g., in a yaw orientation). For example, in the embodiment of fig. 4B, IDM190 may freely rotate about the Z-axis while maintaining contact with alignment member 309. Accordingly, in some embodiments, alignment member 309 and/or IDM190 may further include alignment marks for defining rotational alignment of IDM190 with alignment member 309.

Fig. 5A-5H illustrate various embodiments of alignment marks for facilitating rotational alignment of a manipulator assembly (e.g., IDM 190) with alignment member 309. In the embodiment of fig. 5A and 5B, the alignment member 309 includes a first alignment mark set 505, and the IDM190 includes a second alignment mark set 510 corresponding to the first alignment mark set 505. After bringing alignment member 309 into contact with IDM190 (as shown in fig. 5B), IDM190 and alignment member 309 may be rotationally aligned with respect to rotation about the Z-axis (e.g., yaw of IDM 190) by aligning first alignment mark set 505 and second alignment mark set 510. In the embodiment of fig. 5A and 5B, the first alignment mark group 505 and the second alignment mark group 510 may be formed as a band. Alignment bands may be implemented in a variety of different shapes, sizes, dimensions, tolerances, etc. to aid in the alignment of IDM190 with the deflected orientation of alignment member 309. Certain embodiments of the band are shown in fig. 5A, 5B, and 5E-5H, however, the design of the band is not so limited, and the band may have any shape, size, dimension, tolerance, etc. for alignment in a yaw orientation.

In the embodiments of fig. 5C and 5D, the first alignment mark group 505 and the second alignment mark group 510 may be formed in opposite triangles. In this embodiment, the points of the triangle may be matched to confirm that rotational alignment between IDM190 and alignment member 309 is complete. As shown in fig. 5C and 5D, the alignment mark 505 may be formed on the elongated protrusion 313.

Another embodiment, as shown in fig. 5E and 5F, includes a single first alignment mark 505 and a single second alignment mark 510. In this embodiment, the first and second alignment marks 505 and 510 form a wider band than in the embodiment of fig. 5A and 5B. Here, rotational alignment between IDM190 and alignment member 309 may be achieved when the ends of the straps are substantially aligned with one another. In yet another embodiment, as shown in fig. 5G and 5H, the first alignment mark 505 may be wider than the second alignment mark 510. In this embodiment, IDM190 may be rotationally aligned with alignment member 309 when second alignment mark 510 is within the defined width of the band of first alignment marks. Here, the difference in width between the first alignment mark 505 and the second alignment mark 510 may correspond to a tolerance range for rotational alignment relative to rotation about the Z-axis. The tolerance range defined by the widths of alignment marks 505 and 510 may ensure that the surgical robotic system is able to fully manipulate the surgical tool at any position defined within the tolerance range. In addition, in other embodiments, the second alignment mark 510 formed on the IDM190 may be wider than the first alignment mark 505. Although the tolerance range has been discussed in connection with embodiments in which the tolerance range is defined by the width of the alignment marks 505 on the alignment member 309, the indication of the tolerance range may vary and be different across different embodiments and marks. For example, the tolerance range may be defined by the first alignment mark 505 on the alignment member 309, by the second alignment mark 510 on the IDM190, and/or by a combination of the first alignment mark 505 and the second alignment mark 510, etc. Further, an indication of the tolerance range may be located on the patient introducer 301, IDM190, sterile adapter, or the like.

First and second alignment marks 505, 510 may also be positioned on alignment member 309 and IDM190 at a position that enables a user of the robotic surgical system to visually confirm rotational alignment from a plurality of different vantage points. For example, as shown in fig. 4B, IDM190 may have a plurality of features protruding from an upper surface of IDM 190. Depending on where the user is standing, these protrusions and/or other objects, such as the patient introducer itself, may block the view of one or more of the first alignment mark 505 and the second alignment mark 510. Accordingly, the first and second alignment marks 505, 510 may be placed at different locations on the alignment member 309 and IDM190 such that at least one of each of the first and second alignment marks 505, 510 is visible to a user when viewing from one of a plurality of vantage points. This may enable a user to visually confirm the rotational alignment of IDM190 and alignment member 309 without requiring the user to move in order to see first alignment mark 505 and second alignment mark 510.

Additionally, where the manipulator assembly includes additional components, such as sterile adapters, that are attached to IDM190, a third set of alignment marks (not shown) may be formed on the additional components so that the additional components may be aligned with the alignment members. The third mark may be formed on the additional member in a similar manner to the second mark 510 shown in fig. 5A to 5H. In these embodiments, the sterile adapter may include at least a portion having a surface complementary to the shape of alignment member 309. A sterile adapter may be an adapter configured to physically attach to IDM190 for surgical procedures that require the interface between IDM190 and robotic arm 175 to be sterile. In certain embodiments, the sterile adapter may have an outer surface and/or surgical tool interface that is substantially the same as or similar to the outer surface and/or surgical tool interface of the interface between IDM190 and surgical tool 115.

Additive alignment technique

In certain aspects of the present disclosure, additional alignment techniques may be employed in place of, or in addition to, the physical alignment embodiments discussed in conjunction with fig. 4 and 5. These techniques may assist in manual or automatic alignment of IDM190 with patient introducer 301.

In one example, a Radio Frequency Identification (RFID) reader and RFID tag may be used to aid in alignment. Patient introducer 301 may include an RFID tag positioned on alignment member 309 or at another location on patient introducer 301. IDM190 may include an RFID reader configured to read wireless signals transmitted from RFID tags. In other embodiments, the locations of the RFID tag and the RFID reader may be swapped.

The RFID tag may be a passive device that collects energy transmitted from the RFID reader and may transmit an RFID signal using power collected from the RFID reader. By detecting the signal transmitted from the RFID tag, the RFID reader may be able to determine the location of the RFID reader relative to the RFID tag. In addition, as the RFID reader moves closer to the RFID tag, the signal detected by the RFID reader may become stronger. Thus, when the RFID reader finds a maximum (or peak) in the strength of the signal received from the RFID tag, the RFID reader may be able to infer that the RFID tag is at a likely location closest to the RFID reader. The strength of the received RFID signal may be displayed to the user, e.g., via display module 202, to facilitate manual alignment of IDM190 with patient introducer 301. Alternatively, the processor of the surgical robotic system may use the RFID signal as an input for automatic alignment of the IDM190 with the patient introducer 301.

In another example, the surgical robotic system 110 may include a laser tracking system to aid in alignment. For example, IDM190 may include a laser emitter (also referred to simply as a laser) and a laser sensor, with a laser reflector positioned on patient guide 301 (e.g., on alignment member 309). The laser, laser reflector, and laser sensor may be positioned such that the laser is reflected onto the sensor when the IDM190 is properly aligned with the patient introducer 301. As such, the positioning of the laser and laser sensor relative to the laser reflector enables the surgical robotic system 110 to determine that the IDM190 has been aligned with the patient guide 301.

In an alternative embodiment, IDM190 comprises at least one laser, and patient guide 301 or alignment member 309 comprises at least one alignment mark corresponding to the laser. The user of the surgical robotic system 110 may then determine that the IDM190 is aligned with the patient guide 301 by visually confirming that the laser falls on the at least one alignment mark. In these embodiments, the placement of the laser, laser reflector, laser sensor, and at least one marker may be exchanged between the IDM190 and the patient introducer 301. In some embodiments, there may be at least three lasers and three markers/sensors to ensure that the alignment between the IDM190 and the patient introducer 301 is defined in all degrees of freedom. In some embodiments, there may be at least one laser and at least one marker/sensor to ensure that the alignment between the IDM190 and the patient introducer 301 is defined in all degrees of freedom.

In another example, alignment member 301 may include a Light Emitting Diode (LED) configured to emit light based on the positioning of the LED relative to a photodiode placed on IDM 190. For example, a photodiode placed on IDM190 may be capable of sensing light emitted from the LEDs to determine the alignment of IDM190 relative to alignment member 301. Additionally, in some embodiments, alignment member 301 may include a plurality of LEDs that respectively correspond to a plurality of photodiodes positioned on IDM 190. IDM190 may be able to determine that IDM190 has been aligned with the alignment member when the photodiode detects light received from the respective LED. Furthermore, the LEDs may have different colors, while the photodiodes may have corresponding color filters. Thus, only light from a respective one of the LEDs may be detected by the photodiode.

In another example, alignment of IDM190 with patient introducer 301 may include the use of acoustic reflections. For example, IDM190 may comprise an acoustic reflector and an acoustic sensor, while patient introducer 301 and/or alignment member 309 comprise an acoustic reflector. IDM190 may then be located based on the signal detected by the acoustic sensor, with a maximum of the measured signal indicating that IDM190 is aligned with patient introducer 301.

In another example, a magnetic field sensor may be placed on IDM190 and a magnet placed on patient introducer 301 and/or alignment member 309. The signals measured by the magnetic sensors may be used to determine the positional alignment of the IDM190 with the patient introducer. The placement of these elements may be exchanged between IDM190 and patient introducer 301.

In one implementation, alignment of IDM190 with patient introducer 310 may also involve the use of an EM generator and one or more EM sensors. For example, the manipulator assembly may include an EM sensor, and the EM generator may be disposed on the platform 102 or adjacent to the platform 102. The surgical robotic system 110 may use the signals detected by the EM sensors to determine the position of the IDM190 relative to the EM generator.

In further embodiments, the physical shape of alignment member 309 and IDM190 may vary according to the embodiments discussed in conjunction with fig. 4 and 5. For example, alignment of three points on patient guide 301 with three corresponding points on IDM190 may be sufficient to define an alignment between patient guide 301 and IDM 190. Thus, in one example, patient introducer 301 may include three elongated protrusions, while IDM190 may include three markers corresponding to the three elongated protrusions of patient introducer 301. Patient introducer 301 may be aligned with IDM190 when the elongated protrusions are brought into contact with corresponding markings on IDM 190. Alternatively, an elongated protrusion may be formed on IDM190 and a marker formed on patient introducer 301, or IDM190 and patient introducer may each comprise three protrusions configured to meet in space with corresponding protrusions on an opposing element.

Although a number of example different sensors may be used to assist a user in aligning IDM190 with patient introducer 301 and/or for automatic alignment of IDM190 with patient introducer 301 performed by surgical robotic system 110, other types of sensors may be used in addition to or in place of those described herein. For example, alignment may be performed using any other sensor modality including, but not limited to, visual shape matching using optical sensors (e.g., cameras), ultrasonic sensors, accelerometers, capacitive coupling sensors, and the like.

Another method for physical alignment between patient introducer 301 and IDM190 may be the use of protrusions and a central cavity. Thus, when the protrusion is inserted into the hollow cavity, the patient introducer 301 and IDM190 may be aligned. Since a simple cylindrical protrusion and a hollow cavity may not define rotational alignment along the major axis of the protrusion, the protrusion/hollow cavity may be keyed (key) such that only one rotational alignment between the patient introducer 301 and the IDM190 allows the protrusion to be inserted into the cavity.

Example method for alignment

An example method for aligning a surgical robotic system cart with a patient guide will now be described in connection with fig. 6-10. Fig. 6 provides an overview of the alignment of the system cart with the patient introducer. Aspects of the methods disclosed hereinafter, such as each of methods 600 through 1000, may be implemented by: the human operator manually manipulates the IDM190 or other components of the surgical robotic system; the surgical robotic system itself (such as system 110 described above) manipulates IDM190 mechanically, either as directed by a human operator or autonomously; or a combination of the two.

The method 600 begins at block 601. At block 605, patient introducer 301 is attached to port 320. The port 320 may be pre-positioned within the patient 101 by medical personnel. At block 610, the robotic arm 175 is placed in an alignment pose. This may be performed automatically by the surgical robotic system 110 in response to an input command from the user, or the user may manually direct the robotic arm 175 into an alignment pose. When the robotic arm 175 is guided by the user, the surgical robotic system may provide feedback to the user indicating when the robotic arm 175 is within a threshold distance of the aligned position.

At block 615, the user may optionally move the system cart 180 (in embodiments utilizing the system cart) such that the robotic arm 175 is adjacent to the patient introducer 301. This step may be considered as a coarse alignment of the system cart 180 with the patient introducer. Because the robotic arm 175 has a limited range of motion, the robotic arm 175 may not be able to reach the patient introducer to perform the alignment if the system cart 180 is not placed close enough to the patient introducer prior to the alignment. Block 620 involves aligning (spatially and/or rotationally) a manipulator assembly (e.g., IDM 190) of the robotic arm 175 with the alignment member 309 of the patient introducer 301. This step may be done manually by the user, automatically by the surgical robotic system 110, or by a combination of manual and automatic processes. The surgical robotic system 110 may store the position (e.g., alignment position) of the IDM190 in response to the IDM190 being aligned with the patient introducer 301. Storing the alignment position of the IDM190 may be performed in response to the surgical robotic system 110 receiving confirmation from the user that the IDM190 is aligned with the patient introducer 301.

In some embodiments, patient introducer 301 may be moved into alignment with IDM 190. For example, the platform 102 supporting the patient 101 may be movable (e.g., with lockable/unlockable wheels) and/or adjustable within the operating environment 100 to facilitate alignment with the IDM 190. Accordingly, the platform 102 may be moved into position such that the patient introducer 301 is aligned with the IDM 190. In some embodiments, alignment of IDM190 with patient introducer 301 may involve moving both IDM190 and patient introducer 301. Once the manipulator assembly 190 has been aligned with the patient introducer 301, the user may optionally secure the surgical robotic system cart 180 at block 625. Alternatively, if the surgical robotic system cart 180 includes automated brakes and/or actuators for moving the cart 180, the surgical robotic system 110 may automatically secure the system cart 180. In some embodiments, such as where the robotic arm 175 is not positioned on the system cart 180 (e.g., when the robotic arm 175 is positioned on a table), blocks 615 and 625 may not be performed. The method 600 ends at block 630.

Fig. 7 provides a flow diagram illustrating a method 700 of providing additional aspects related to block 605 of fig. 6. The method 700 begins at block 701. At block 705, the port 320 is installed into the patient. Block 705 may be performed by medical personnel in preparation for a surgical procedure to be performed by/using the surgical robotic system 110. At block 710, medical personnel may attach and/or secure the patient introducer holder 325 to a bed rail or other secure portion of the platform 102. Examples of secure portions of the platform 102 to which the patient introducer holder 325 may be attached include: bed frame, support columns, padding placed under the patient 101, etc. This may secure the patient introducer 301, thereby reducing the likelihood that the patient introducer 301 will shift or otherwise move out of position during an alignment or surgical procedure. At block 715, the medical personnel connect the patient introducer 301 to the patient introducer holder 325. In other embodiments, patient introducer 301 may be aligned with port 325 without being directly connected to port 325, e.g., patient introducer 301 may be secured adjacent port 325 and aligned with port 325.

At block 720, medical personnel attach the patient introducer 301 to the port 320. This step may be performed concurrently with block 715, for example, the final position of the secured patient introducer holder 325 may not be set until after the patient introducer 301 has been connected to the port 320. The method 700 ends at block 725.

FIG. 8 is a flow diagram illustrating a method 800 of providing additional aspects related to block 610 of FIG. 6. The method 800 begins at block 801. At block 805, the user connects the umbilical cable to the surgical robotic system cart 180. The umbilical cable may provide communication and/or power to the surgical robotic system cart 180. At block 810, the user powers on the robotic surgical system cart 180. At block 815, the user may select one of the plurality of robotic arms 175 of the robotic surgical system cart 180 to be used in alignment with the patient introducer 301. The selected robotic arm 175 may be the arm 175 closest to the patient 101 and/or the couch 102. At block 820, the user places the selected robotic arm 175 into an alignment pose. In other embodiments, the user may input commands to the surgical robotic system 110 to cause the surgical robotic system 110 to automatically position the robotic arm 175 in the alignment pose. The method 800 ends at block 825.

FIG. 9 provides a flow diagram for a method 900 of providing additional aspects related to block 620 of FIG. 6. Method 900 begins at block 901. At block 905, the user and/or the surgical robotic system 110 adjusts the Z-lift of the surgical robotic system cart 180. This may involve adjusting the height of the system cart 180 to a level suitable for the height of the platform 102. At block 910, in a manual embodiment, the user places the manipulator assembly (e.g., IDM 190) of the selected robotic arm 175 in contact with the alignment member 309 of the patient introducer 301. The user may need to press a grant button to enable manual manipulation of the robotic arm 175.

According to an embodiment, block 910 may be performed automatically by the surgical robotic system 110 during alignment using one or more sensors as input for feedback. In some embodiments, alignment of the manipulator assembly with the patient guide 301 may not involve physical contact between the manipulator assembly and the patient guide 301. For example, in embodiments where IDM190 includes a laser and a laser sensor, surgical robotic system 110 may automatically determine whether IDM190 is aligned with alignment member 309 using detection of laser light emitted from the laser, reflected from alignment member 309, and detected at the laser sensor. In embodiments that include the use of LEDs, the robotic surgical system may determine that IDM190 is aligned with alignment member 309 when a photodiode placed on IDM190 detects light received from the LEDs. Additionally, any of the alignment features and/or sensors discussed above may also be used for automatic alignment of IDM190 with patient introducer 301 by surgical robotic system 110.

At block 915, the user/surgical robotic system aligns the markings on the manipulator assembly with the markings on the alignment member. In the embodiment of fig. 5A-5H, this may involve rotating the manipulator assembly 190 relative to the Z-axis until the markers are aligned. In some embodiments, alignment of the marks on the manipulator assembly with the marks on the alignment member 309 may involve: the manipulator assembly is moved relative to the alignment member 309 until the alignment marks of the manipulator assembly are aligned with the alignment marks of the alignment member 309. At block 920, the user/surgical robotic system aligns the top of the manipulator assembly to the elongated protrusion 313 of the alignment member 309. In some embodiments, block 920 may be performed prior to block 915 or generally with block 915.

At block 925, the surgical robotic system 110 receives confirmation from the user that the alignment process has been completed. In other embodiments, the surgical robotic system 110 may automatically confirm that the alignment has been completed and, therefore, no user input from the user is required, or the surgical robotic system 110 may automatically perform the alignment, thereby not requiring any user input to confirm or perform the alignment. At block 930, surgical robotic system 110 stores the alignment position and orientation of IDM190 (e.g., defining six degrees of freedom of the final position of IDM190 after the alignment process) in memory. The surgical robotic system 110 may use the stored alignment positions to calibrate the control and/or movement of the IDM190 during subsequent surgical procedures. The method 900 ends at block 925.

FIG. 10 provides a flow diagram for a method 1000 of providing additional aspects related to block 625. Method 1000 begins at block 1001. At block 1005, the user adjusts the patient introducer 301 to further fix the position of the patient introducer 301, thereby preventing the patient introducer from shifting after the alignment process. For example, the patient introducer 301 may be secured by tightening a clamp (not shown) on the patient introducer holder 325. At block 1010, the user moves the robotic arm 175 into the loading instrument position. Block 1010 may also be performed automatically by the surgical robotic system 110. At block 1015, the user loads an instrument to be used during the surgical procedure onto the robotic arm 175. At block 1020, the user continues with the surgical procedure. The method 1000 ends at block 1025.

Implementation System and terminology

Implementations disclosed herein provide systems, methods, and apparatus for alignment of a surgical robotic system cart with a patient introducer.

It should be noted that the terms "coupled," "coupled," or other variations of the word coupled, as used herein, may indicate an indirect connection or a direct connection. For example, if a first element is "coupled" to a second element, the first element can be indirectly connected to the second element via another element or directly connected to the second element.

The robot motion actuation functions described herein may be stored as one or more instructions on a processor-readable or computer-readable medium. The term "computer-readable medium" refers to any available medium that can be accessed by a computer or processor. By way of example, and not limitation, such media can comprise RAM, ROM, EEPROM, flash memory, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. It should be noted that computer-readable media may be tangible and non-transitory. As used herein, the term "code" may refer to software, instructions, code or data capable of being executed by a computing device or processor.

The methods disclosed herein comprise one or more steps or actions for achieving the described method. The steps and/or actions of the methods may be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is properly required of the method being described, the order and/or use of specific steps and/or actions may be modified without departing from the scope of the claims.

As used herein, the term "plurality" means two or more. For example, a plurality of components means two or more components. The term "determining" encompasses a wide variety of actions and, thus, "determining" can include calculating, computing, processing, deriving, investigating, looking up (e.g., looking up in a table, a database or another data structure), ascertaining and the like. "determining" may also include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory), and the like. Further, "determining" may include resolving, selecting, choosing, establishing, and the like.

The phrase "based on" does not mean "based only on," unless expressly specified otherwise. In other words, the phrase "based on" describes both "based only on" and "based at least on".

The previous description of the disclosed implementations is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these implementations will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other implementations without departing from the scope of the invention. For example, it should be understood that one of ordinary skill in the art will be able to employ a number of corresponding alternative and equivalent structural details, such as equivalent ways of fastening, mounting, coupling, or engaging tool components, equivalent mechanisms for generating specific actuation motions, and equivalent mechanisms for delivering electrical energy. Thus, the present invention is not intended to be limited to the implementations shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.