WO2025007133A1

WO2025007133A1 - Rounded triangular cannula trocar

Info

Publication number: WO2025007133A1
Application number: PCT/US2024/036408
Authority: WO
Inventors: Alexander BRETON; Jason Philip COPE
Original assignee: Vicarious Surgical Inc
Current assignee: Vicarious Surgical Inc
Priority date: 2023-06-30
Filing date: 2024-07-01
Publication date: 2025-01-02
Anticipated expiration: 2025-12-30

Abstract

A trocar having three radially-shaped walls and three radially-shaped comers coupling the three radially-shaped walls to form a cannula body of a cannula. Each of the three radially-shaped corners has a radius and the radius may correspond to a radius of a support tube of a camera or instrument for a surgical robotic device. The cannula body of the trocar may receive three support tubes in each of the three radially-shaped corners.

Description

ROUNDED TRIANGULAR CANNULA TROCAR

Cross-Reference To Related Application

This application claims the benefit of U.S. Provisional Patent Application Serial No. 63/524,439, filed June 30, 2023 and entitled “Rounded Triangular Cannula Trocar,” the contents of which is hereby incorporated by reference in its entirety.

Background

Surgical robotic systems permit a surgeon (also described herein as an “operator” or a “user”) to perform an operation using robotically-controlled instruments to perform tasks and functions during a surgical procedure. In order to perform the surgical procedure, cameras, instruments, and possibly other portions of the surgical robotic system must be introduced into a body of a patient. The cameras and instruments may be connected to the surgical robotic system through support tubes. In order to introduce the components, a trocar may be used. Generally, a trocar is a sharp-pointed surgical instrument fitted with a cannula and an obturator and used especially to insert the cannula into a body cavity. A cannula is a tube for insertion into a body cavity. The surgeon or another medical provider may make an incision and then insert the trocar and cannula into the incision and into the body cavity. After withdrawal of the obturator, the cannula may provide access to a body cavity for the components of the surgical robotic system.

A cannula with a radius that is small may lack sufficient space to receive the cameras, instruments, related support tubes, or other components of the surgical robotic system. A cannula with a radius that is large may require an excessively large incision to introduce the trocar to the body or may apply excessive force to the incision.

Summary

In one embodiment, the present disclosure is directed to a trocar having three radially- shaped walls and three radially-shaped corners coupling the three radially-shaped walls to form a cannula body of a cannula. Each of the three radially-shaped walls may have a first radius and each of the three radially-shaped comers may have a second radius. The first radius and the second radius may reduce pulling of the trocar against an incision. The cannula may include a tapered distal section.

The trocar may include an obturator having a distal insertion tip. The obturator may be insertable at least partially within the cannula. The cannula may be configured to receive at least three support tubes extending through the cannula parallel to a longitudinal axis of the cannula. Each of the support tubes may have a substantially circular cross section. Each of the radially-shaped corners may have a radius similar to a radius of one of the support tubes.

The trocar may be configured to receive a surgical robotic device component when one or more support tubes is fitted to a respective one or more of the radially-shaped corners. The trocar may include a trocar cap connected to and substantially concentric with the cannula body, the trocar cap including an aperture connected to an aperture of the cannula body.

A first of the radially-shaped corners may extend between a first and a second of the three radially-shaped walls. A second of the radially-shaped comers may extend between a second and a third of the three radially-shaped walls. A third of the radially-shaped corners may extend between the first and the third of the three radially-shaped walls. Each of the three radially-shaped walls may have a radius relative to a central longitudinal axis of the cannula.

The present disclosure is also directed to a surgical robotic system including a robot support system; a camera unit including a camera support tube, a camera connection interface at a first end of the camera support tube, and a camera pill at a second end of the camera support tube opposite the first end of the camera support tube. The surgical robotic system may also include a first robotic arm including a first robotic arm support tube. The surgical robotic system may also include a first robotic arm connection interface at a first end of the first robotic arm support tube. The surgical robotic system may also include a first end effector at a second end of the camera support tube opposition the first end of the camera support tube. The surgical robotic system may also include a second robotic arm including a second robotic arm support tube. The surgical robotic system may also include a second robotic arm connection interface at a first end of the second robotic arm support tube. The surgical robotic system may also include a second end effector at a second end of the camera support tube opposition the first end of the camera support tube. The surgical robotic system may also include a trocar including three radially-shaped walls and three radially-shaped comers coupling the three radially-shaped walls to form a cannula body of a cannula. Each of the three radially-shaped comers may be configured to receive a portion of one of the camera support tube, the first robotic arm support tube, or the second robotic arm support tube. The trocar may be configured to permit each of the camera pill, the first end effector, and the second end effector to pass through the cannula body of the trocar.

The cannula body may have a size and shape to receive the second end effector while the camera support tube and the first robotic arm support tube are fitted to respective radially- shaped corners.

The present disclosure is also directed to a method for assembling a surgical robotic system to be introduced via a trocar. The trocar may include a cannula body having three radially-shaped walls and three radially-shaped corners. The method may include feeding a camera pill attached to a camera support tube through the hollow tube. The method may include feeding the camera support tube partially through the cannula body and permitting a section of the camera support tube to rest against a first of the radially-shaped corners. The method may include feeding a first end effector attached to a first robotic arm support tube through the cannula body by passing the first end effector through the cannula body proximate the camera support tube. The method may include feeding the first robotic arm support tube at least partially through the hollow tube and permitting a section of the first robotic arm support tube to rest against a second of the radially-shaped corners. The method may include feeding a second end effector attached to a second robotic arm support tube through the cannula body by passing the second end effector through the tube proximate the camera support tube and the first robotic arm support tube. The method may include feeding the second robotic arm support tube at least partially through the cannula body and permitting a section of the second robotic arm support tube to rest against a third of the radially-shaped comers. The method may include inserting the trocar into an incision before feeding any of the camera pill, the first end effector, or the third end effector through the cannula body.

Brief Description of the Drawings

These and other features and advantages of the present invention will be more fully understood by reference to the following detailed description in conjunction with the attached drawings in which like reference numerals refer to like elements throughout the different views. The drawings illustrate principals of the invention and, although not to scale, show relative dimensions.

FIG. 1 schematically depicts a surgical robotic system in accordance with some embodiments.

FIG. 2A is a perspective view of a patient cart including a robotic support system coupled to a robotic subsystem of the surgical robotic system in accordance with some embodiments.

FIG. 2B is a perspective view of an example operator console of a surgical robotic system of the present disclosure in accordance with some embodiments.

FIG. 3 A schematically depicts a side view of a surgical robotic system performing a surgery within an internal cavity of a subject in accordance with some embodiments.

FIG. 3B schematically depicts a top view of the surgical robotic system performing the surgery within the internal cavity of the subject of FIG. 3 A in accordance with some embodiments.

FIG. 4A is a perspective view of a single robotic arm subsystem in accordance with some embodiments.

FIG. 4B is a perspective side view of a single robotic arm of the single robotic arm subsystem of FIG. 4A in accordance with some embodiments.

FIG. 5 is a perspective front view of a camera assembly and a robotic arm assembly in accordance with some embodiments.

FIG. 6 is a perspective view of a trocar in accordance with some embodiments.

FIG. 7 is a perspective view of an obturator for a trocar in accordance with some embodiments.

FIG. 8 is a perspective view of components of a trocar in accordance with some embodiments.

FIG. 9A is a perspective view of a trocar in accordance with some embodiments.

FIG. 9B is a side view of a trocar in accordance with some embodiments.

FIG. 9C is a side view of a trocar in accordance with some embodiments.

FIG. 9D is a perspective view of a trocar in accordance with some embodiments. FIG. 9E is a perspective view of a trocar in accordance with some embodiments.

FIG. 10 is a side view of a distal portion of a cannula in accordance with some embodiments.

FIG. 11 is a perspective view of a distal portion of a cannula is accordance with some embodiments.

FIG. 12 is a diagram of a cross section of a cannula body in accordance with some embodiments.

FIG. 13 is a diagram of a cross section of a cannula body with two support tubes and an arm in accordance with some embodiments.

FIG. 14 is a diagram showing a comparison between a substantially circular cannula body and a rounded triangular cannula body in accordance with some embodiments.

FIGs. 15 A, 15B, and 15C are diagrams showing a sequence of steps for inserting components in a cannula body in accordance with some embodiments.

Detailed Description

Disclosed herein are trocars having three radially-shaped walls and three radially- shaped corners coupling the three radially-shaped walls to form a cannula body of a cannula. Each of the three radially-shaped comers has a radius and the radius may correspond to a radius of a support tube of a camera or instrument for a surgical robotic device. The cannula body of the trocar may receive three support tubes, for example, one in each of the three radially-shaped comers.

In the following description, numerous specific details are set forth regarding the systems and methods disclosed herein and the environment in which the systems and methods may operate or function, in order to provide a thorough understanding of the disclosed subject matter. It will be apparent to one skilled in the art, however, that the disclosed subject matter may be practiced without such specific details, and that certain features, which are well known in the art, are not described in detail in order to avoid complication and enhance clarity of the disclosed subject matter. In addition, it will be understood that any examples provided below are merely illustrative and are not to be constmed in a limiting manner, and that it is contemplated by the present inventors that other systems, apparatuses, and/or methods can be employed to implement or complement the teachings of the present invention and are deemed to be within the scope of the present invention.

While some embodiments of systems and methods can be employed for use with or incorporated into one or more surgical robotic systems described herein, some embodiments may be employed in connection with any type of surgical system, including for example other types of robotic surgical systems, straight- stick type surgical systems, and laparoscopic systems. Additionally, some embodiments may be employed with or in other non-surgical systems, or for other non-surgical methods, where a user requires access to a myriad of information, while controlling a device or apparatus.

Trocars according to the present disclosure may provide additional internal space in order to receive an instrument, a camera, support tubes, or other components of the surgical robotic system within the cannula body. The shape of the cannula body of the trocar may allow the cannula body to receive one or more support tubes along one or more respective radially-shaped corers of the cannula body and leave room for additional components to pass through the trocar body. The shape of the cannula body may allow for reduced dimensions which may facilitate insertion into an incision and to reduce tugging or pressure by the trocar against the incision.

Prior to providing additional specific description of the rounded triangular cannula trocar with respect to FIGS. 6-15C, an example surgical robotic system in which embodiments of the surgeon console may be employed is described below with respect to FIGS. 1-5.

Surgical Robotic Systems

Some embodiments may be employed with a surgical robotic system. A system for robotic surgery may include a robotic subsystem. The robotic subsystem includes at least a portion, which may also be referred to herein as a robotic assembly that can be inserted into a patient via a trocar through a single incision point or site. The portion inserted into the patient via a trocar is small enough to be deployed in vivo at the surgical site and is sufficiently maneuverable when inserted to be able to move within the body to perform various surgical procedures at multiple different points or sites. The portion inserted into the body that performs functional tasks may be referred to as a surgical robotic unit, a surgical robotic module or a robotic assembly herein. The surgical robotic unit or surgical robotic module can include multiple different subunits or parts that may be inserted into the trocar separately. The surgical robotic unit, surgical robotic module or robotic assembly can include multiple separate robotic arms that are deployable within the patient along different or separate axes. These multiple separate robotic arms may be collectively referred to as a robotic arm assembly herein. Further, a surgical camera assembly can also be deployed along a separate axis. The surgical robotic unit, surgical robotic module, or robotic assembly may also include the surgical camera assembly. Thus, the surgical robotic unit, surgical robotic module, or robotic assembly employs multiple different components, such as a pair of robotic arms and a surgical or robotic camera assembly, each of which are deployable along different axes and are separately manipulatable, maneuverable, and movable. The robotic arms and the camera assembly that are disposable along separate and manipulatable axes is referred to herein as the Split Arm (SA) architecture. The SA architecture is designed to simplify and increase efficiency of the insertion of robotic surgical instruments through a single trocar at a single insertion site, while concomitantly assisting with deployment of the surgical instruments into a surgical ready state as well as the subsequent removal of the surgical instruments through the trocar. By way of example, a surgical instrument can be inserted through the trocar to access and perform an operation in vivo in the abdominal cavity of a patient. In some embodiments, various surgical instruments may be used or employed, including but not limited to robotic surgical instruments, as well as other surgical instruments known in the art.

The systems, devices, and methods disclosed herein can be incorporated into and/or used with a robotic surgical device and associated system disclosed for example in United States Patent No. 10,285,765 and in PCT patent application Serial No. PCT/US2020/39203, and/or with the camera assembly and system disclosed in United States Publication No. 2019/0076199, and/or the systems and methods of exchanging surgical tools in an implantable surgical robotic system disclosed in PCT patent application Serial No. PCT/US2021/058820, where the content and teachings of all of the foregoing patents, patent applications and publications are incorporated herein by reference herein in their entirety. The surgical robotic unit that forms part of the present invention can form part of a surgical robotic system that includes a surgeon workstation that includes appropriate sensors and displays, and a robot support system (RSS) for interacting with and supporting the robotic subsystem of the present invention in some embodiments. The robotic subsystem includes a motor and a surgical robotic unit that includes one or more robotic arms and one or more camera assemblies in some embodiments. The robotic arms and camera assembly can form part of a single support axis robotic system, can form part of the split arm (SA) architecture robotic system, or can have another arrangement. The robot support system can provide multiple degrees of freedom such that the robotic unit can be maneuvered within the patient into a single position or multiple different positions. In one embodiment, the robot support system can be directly mounted to a surgical table or to the floor or ceiling within an operating room. In another embodiment, the mounting is achieved by various fastening means, including but not limited to, clamps, screws, or a combination thereof. In other embodiments, the structure may be free standing. The robot support system can mount a motor assembly that is coupled to the surgical robotic unit, which includes the robotic arms and the camera assembly. The motor assembly can include gears, motors, drivetrains, electronics, and the like, for powering the components of the surgical robotic unit.

The robotic arms and the camera assembly are capable of multiple degrees of freedom of movement. According to some embodiments, when the robotic arms and the camera assembly are inserted into a patient through the trocar, they are capable of movement in at least the axial, yaw, pitch, and roll directions. The robotic arms are designed to incorporate and employ a multi-degree of freedom of movement robotic arm with an end effector mounted at a distal end thereof that corresponds to a wrist area or joint of the user. In other embodiments, the working end (e.g., the end effector end) of the robotic arm is designed to incorporate and use or employ other robotic surgical instruments, such as for example the surgical instruments set forth in U.S. Publ. No. 2018/0221102, the entire contents of which are herein incorporated by reference.

Turning to the drawings, FIG. l is a schematic illustration of an example surgical robotic system 10 in which aspects of the present disclosure can be employed in accordance with some embodiments of the present disclosure. The surgical robotic system 10 includes an operator console 11 and a robotic subsystem 20 in accordance with some embodiments.

The operator console 11 includes a visualization system 9 with a display device 12, an image computer 14, which may be a three-dimensional (3D) computer, hand controllers 17 having a sensor and tracker 16, and a computer 18. Additionally, the operator console 11 may include a foot pedal array 19 including a plurality of pedals. The foot pedal array 19 may include a sensor transmitter 19A and a sensor receiver 19B to sense presence of a user’s foot proximate foot pedal array 19.

The display 12 may be any selected type of display for displaying information, images or video generated by the image computer 14, the computer 18, and/or the robotic subsystem 20. The visualization system 9 can include or form part of, for example, a head-mounted display (HMD), an augmented reality (AR) display (e.g., an AR display, or AR glasses in combination with a screen or display), a screen or a display, a two-dimensional (2D) screen or display, a three-dimensional (3D) screen or display, and the like. The visualization system 9 can also include an optional sensor and tracker 16A. In some embodiments, the display 12 can include an image display for outputting an image from a camera assembly 44 of the robotic subsystem 20.

In some embodiments, if the visualization system 9 includes an HMD device, an AR device that senses head position, or another device that employs an associated sensor and tracker 16A, the HMD device or head tracking device generates tracking and position data 34A that is received and processed by image computer 14. In some embodiments, the HMD, AR device, or other head tracking device can provide an operator (e.g., a surgeon, a nurse or other suitable medical professional) with a display that is at least in part coupled or mounted to the head of the operator, lenses to allow a focused view of the display, and the sensor and tracker 16A to provide position and orientation tracking of the operator’s head. The sensor and tracker 16A can include for example accelerometers, gyroscopes, magnetometers, motion processors, infrared tracking, eye tracking, computer vision, emission and sensing of alternating magnetic fields, and any other method of tracking at least one of position and orientation, or any combination thereof. In some embodiments, the HMD or AR device can provide image data from the camera assembly 44 to the right and left eyes of the operator. In some embodiments, in order to maintain a virtual reality experience for the operator, the sensor and tracker 16 A, can track the position and orientation of the operator’s head, generate tracking and position data 34A, and then relay the tracking and position data 34A to the image computer 14 and/or the computer 18 either directly or via the image computer 14.

The hand controllers 17 are configured to sense a movement of the operator’s hands and/or arms to manipulate the surgical robotic system 10. The hand controllers 17 can include the sensor and tracker 16, circuity, and/or other hardware. The sensor and tracker 16 can include one or more sensors or detectors that sense movements of the operator’s hands. In some embodiments, the one or more sensors or detectors that sense movements of the operator’s hands are disposed in a pair of hand controllers that are grasped by or engaged by hands of the operator. In some embodiments, the one or more sensors or detectors that sense movements of the operator’s hands are coupled to the hands and/or arms of the operator. For example, the sensors of the sensor and tracker 16 can be coupled to a region of the hand and/or the arm, such as the fingers, the wrist region, the elbow region, and/or the shoulder region. If the HMD is not used, then additional sensors can also be coupled to a head and/or neck region of the operator in some embodiments. If the operator employs the HMD, then the eyes, head and/or neck sensors and associated tracking technology can be built-in or employed within the HMD device, and hence form part of the optional sensor and tracker 16A as described above. In some embodiments, the sensor and tracker 16 can be external and coupled to the hand controllers 17 via electricity components and/or mounting hardware. In some embodiments, the optional sensor and tracker 16A may sense and track movement of one or more of an operator’s head, of at least a portion of an operator’s head, an operator’s eyes or an operator’s neck based, at least in part, on imaging of the operator in addition to or instead of by a sensor or sensors attached to the operator’s body.

In some embodiments, the sensor and tracker 16 can employ sensors coupled to the torso of the operator or any other body part. In some embodiments, the sensor and tracker 16 can employ in addition to the sensors an Inertial Momentum Unit (IMU) having for example an accelerometer, gyroscope, magnetometer, and a motion processor. The addition of a magnetometer allows for reduction in sensor drift about a vertical axis. In some embodiments, the sensor and tracker 16 also include sensors placed in surgical material such as gloves, surgical scrubs, or a surgical gown. The sensors can be reusable or disposable. In some embodiments, sensors can be disposed external of the operator, such as at fixed locations in a room, such as an operating room. The external sensors 37 can generate external data 36 that can be processed by the computer 18 and hence employed by the surgical robotic system 10.

The sensors generate position and/or orientation data indicative of the position and/or orientation of the operator’s hands and/or arms. The sensor and tracker 16 16 and/or 16A can be utilized to control movement (e.g., changing a position and/or an orientation) of the camera assembly 44 and robotic arms 42 of the robotic subsystem 20. The tracking and position data 34 generated by the sensor and tracker 16 can be conveyed to the computer 18 for processing by at least one processor 22.

The computer 18 can determine or calculate, from the tracking and position data 34 and 34A, the position and/or orientation of the operator’s hands or arms, and in some embodiments of the operator’s head as well, and convey the tracking and position data 34 and 34A to the robotic subsystem 20. The tracking and position data 34, 34A can be processed by the processor 22 and can be stored for example in the storage 24. The tracking and position data 34 and 34A can also be used by the controller 26, which in response can generate control signals for controlling movement of the robotic arms 42 and/or the camera assembly 44. For example, the controller 26 can change a position and/or an orientation of at least a portion of the camera assembly 44, of at least a portion of the robotic arms 42, or both. In some embodiments, the controller 26 can also adjust the pan and tilt of the camera assembly 44 to follow the movement of the operator’s head.

The robotic subsystem 20 can include a robot support system (RSS) 46 having a motor 40 and a trocar 200 or trocar mount, the robotic arms 42, and the camera assembly 44. The robotic arms 42 and the camera assembly 44 can form part of a single support axis robot system, such as that disclosed and described in U.S. Patent No. 10,285,765, or can form part of a split arm (SA) architecture robot system, such as that disclosed and described in PCT Patent Application No. PCT/US2020/039203, both of which are incorporated herein by reference in their entirety.

The robotic subsystem 20 can employ multiple different robotic arms that are deployable along different or separate axes. In some embodiments, the camera assembly 44, which can employ multiple different camera elements, can also be deployed along a common separate axis. Thus, the surgical robotic system 10 can employ multiple different components, such as a pair of separate robotic arms and the camera assembly 44, which are deployable along different axes. In some embodiments, the robotic arms 42 and the camera assembly 44 are separately manipulatable, maneuverable, and movable. The robotic subsystem 20, which includes the robotic arms 42 and the camera assembly 44, is disposable along separate manipulatable axes, and is referred to herein as an SA architecture. The SA architecture is designed to simplify and increase efficiency of the insertion of robotic surgical instruments through a single trocar at a single insertion point or site, while concomitantly assisting with deployment of the surgical instruments into a surgical ready state, as well as the subsequent removal of the surgical instruments through a trocar 200 as further described below.

The RSS 46 can include the motor 40 and the trocar 200 or a trocar mount. The RSS 46 can further include a support member that supports the motor 40 coupled to a distal end thereof. The motor 40 in turn can be coupled to the camera assembly 44 and to each of the robotic arms 42. The support member can be configured and controlled to move linearly, or in any other selected direction or orientation, one or more components of the robotic subsystem 20. In some embodiments, the RSS 46 can be free standing. In some embodiments, the RSS 46 can include the motor 40 that is coupled to the robotic subsystem 20 at one end and to an adjustable support member or element at an opposed end.

The motor 40 can receive the control signals generated by the controller 26. The motor 40 can include gears, one or more motors, drivetrains, electronics, and the like, for powering and driving the robotic arms 42 and the cameras assembly 44 separately or together. The motor 40 can also provide mechanical power, electrical power, mechanical communication, and electrical communication to the robotic arms 42, the camera assembly 44, and/or other components of the RSS 46 and robotic subsystem 20. The motor 40 can be controlled by the computer 18. The motor 40 can thus generate signals for controlling one or more motors that in turn can control and drive the robotic arms 42, including for example the position and orientation of each articulating joint of each robotic arm, as well as the camera assembly 44. The motor 40 can further provide for a translational or linear degree of freedom that is first utilized to insert and remove each component of the robotic subsystem 20 through a trocar 200. The motor 40 can also be employed to adjust the inserted depth of each robotic arm 42 when inserted into the patient 100 through the trocar 200.

The trocar 200 is a medical device that can be made up of an awl (which may be a metal or plastic sharpened or non-bladed tip), a cannula (essentially a hollow tube), and a seal in some embodiments. The trocar can be used to place at least a portion of the robotic subsystem 20 in an interior cavity of a subject (e.g., a patient) and can withdraw gas and/or fluid from a body cavity. The robotic subsystem 20 can be inserted through the trocar to access and perform an operation in vivo in a body cavity of a patient. In some embodiments, the robotic subsystem 20 can be supported, at least in part, by the trocar 200 or a trocar mount with multiple degrees of freedom such that the robotic arms 42 and the camera assembly 44 can be maneuvered within the patient into a single position or multiple different positions. In some embodiments, the robotic arms 42 and camera assembly 44 can be moved with respect to the trocar 200 or a trocar mount with multiple different degrees of freedom such that the robotic arms 42 and the camera assembly 44 can be maneuvered within the patient into a single position or multiple different positions.

In some embodiments, the RSS 46 can further include an optional controller for processing input data from one or more of the system components (e.g., the display 12, the sensor and tracker 16, the robotic arms 42, the camera assembly 44, and the like), and for generating control signals in response thereto. The motor 40 can also include a storage element for storing data in some embodiments.

The robotic arms 42 can be controlled to follow the scaled-down movement or motion of the operator’s arms and/or hands as sensed by the associated sensors in some embodiments and in some modes of operation. The robotic arms 42 include a first robotic arm including a first end effector at distal end of the first robotic arm, and a second robotic arm including a second end effector disposed at a distal end of the second robotic arm. In some embodiments, the robotic arms 42 can have portions or regions that can be associated with movements associated with the shoulder, elbow, and wrist joints as well as the fingers of the operator. For example, the robotic elbow joint can follow the position and orientation of the human elbow, and the robotic wrist joint can follow the position and orientation of the human wrist. The robotic arms 42 can also have associated therewith end regions that can terminate in endeffectors that follow the movement of one or more fingers of the operator in some embodiments, such as for example the index finger as the user pinches together the index finger and thumb. In some embodiments, while the robotic arms 42 may follow movement of the arms of the operator in some modes of control while a virtual chest of the robotic assembly may remain stationary (e.g., in an instrument control mode). In some embodiments, the position and orientation of the torso of the operator are subtracted from the position and orientation of the operator’s arms and/or hands. This subtraction allows the operator to move his or her torso without the robotic arms moving. Further disclosure regarding control of movement of individual arms of a robotic arm assembly is provided in International Patent Application Publications WO 2022/094000 Al and WO 2021/231402 Al, each of which is incorporated by reference herein in its entirety.

The camera assembly 44 is configured to provide the operator with image data 48, such as for example a live video feed of an operation or surgical site, as well as enable the operator to actuate and control the cameras forming part of the camera assembly 44. In some embodiments, the camera assembly 44 can include one or more cameras (e.g., a pair of cameras), the optical axes of which are axially spaced apart by a selected distance, known as the inter-camera distance, to provide a stereoscopic view or image of the surgical site. In some embodiments, the operator can control the movement of the cameras via movement of the hands via sensors coupled to the hands of the operator or via hand controllers grasped or held by hands of the operator, thus enabling the operator to obtain a desired view of an operation site in an intuitive and natural manner. In some embodiments, the operator can additionally control the movement of the camera via movement of the operator’s head. The camera assembly 44 is movable in multiple directions, including for example in yaw, pitch and roll directions relative to a direction of view. In some embodiments, the components of the stereoscopic cameras can be configured to provide a user experience that feels natural and comfortable. In some embodiments, the interaxial distance between the cameras can be modified to adjust the depth of the operation site perceived by the operator.

The image or video data 48 generated by the camera assembly 44 can be displayed on the display 12. In embodiments in which the display 12 includes a HMD, the display can include the built-in sensor and tracker 16A that obtains raw orientation data for the yaw, pitch and roll directions of the HMD as well as positional data in Cartesian space (x, y, z) of the HMD. In some embodiments, positional and orientation data regarding an operator’s head may be provided via a separate head-tracker. In some embodiments, the sensor and tracker 16A may be used to provide supplementary position and orientation tracking data of the display in lieu of or in addition to the built-in tracking system of the HMD. In some embodiments, no head tracking of the operator is used or employed. In some embodiments, images of the operator may be used by the sensor and tracker 16A for tracking at least a portion of the operator’s head.

FIG. 2A depicts an example robotic assembly 20, which is also referred to herein as a robotic subsystem, of a surgical robotic system 10 incorporated into or mounted onto a mobile patient cart in accordance with some embodiments. In some embodiments, the robotic assembly 20 includes the RSS 46, which, in turn includes the motor 40, the robotic arm assembly 42 having end-effectors 45, the camera assembly 44 having one or more cameras 47, and may also include the trocar 200 or a trocar mount. The camera assembly 44 includes a camera pill 48, which may alternatively be called a camera housing, and includes the one or more camera 47 and additional electronics.

FIG. 2B depicts an example of an operator console 11 of the surgical robotic system 10 of the present disclosure in accordance with some embodiments. The operator console 11 includes the display 12, the hand controllers 17, and also includes one or more additional controllers, such as the foot pedal array 19 for control of the robotic arms 42, for control of the camera assembly 44, and for control of other aspects of the system.

FIG. 2B also depicts the left hand controller subsystem 23 A and the right hand controller subsystem 23B of the operator console. The left hand controller subsystem 23 A includes and supports the left hand controller 17A and the right hand controller subsystem 23B includes and supports the right hand controller 17B. In some embodiments, the left hand controller subsystem 23 A may releasably connect to or engage the left hand controller 17A, and right hand controller subsystem 23B may releasably connect to or engage the right hand controller 17 A. In some embodiments, the connections may be both physical and electronic so that the left hand controller subsystem 23 A and the right hand controller subsystem 23B may receive signals from the left hand controller 17A and the right hand controller 17B, respectively, including signals that convey inputs received from a user selection on a button or touch input device of the left hand controller 17A or the right hand controller 17B.

Each of the left hand controller subsystem 23 A and the right hand controller subsystem 23B may include components that enable a range of motion of the respective left hand controller 17A and right hand controller 17B, so that the left hand controller 17A and right hand controller 17B may be translated or displaced in three dimensions and may additionally move in the roll, pitch, and yaw directions. Additionally, each of the left hand controller subsystem 23 A and the right hand controller subsystem 23B may register movement of the respective left hand controller 17A and right hand controller 17B in each of the forgoing directions and may send a signal providing such movement information to a processor (not shown) of the surgical robotic system.

In some embodiments, each of the left hand controller subsystem 23 A and the right hand controller subsystem 23B may be configured to receive and connect to or engage different hand controllers (not shown). For example, hand controllers with different configurations of buttons and touch input devices may be provided. Additionally, hand controllers with a different shape may be provided. The hand controllers may be selected for compatibility with a particular surgical robotic system or a particular surgical robotic procedure or selected based upon preference of an operator with respect to the buttons and input devices or with respect to the shape of the hand controller in order to provide greater comfort and ease for the operator.

FIG. 3 A schematically depicts a side view of the surgical robotic system 10 performing a surgery within an internal cavity 104 of a subject 100 in accordance with some embodiments and for some surgical procedures. FIG. 3B schematically depicts a top view of the surgical robotic system 10 performing the surgery within the internal cavity 104 of the subject 100. Robotic arm assembly 42 includes robotic arm 42 A and robotic arm 42B. The subject 100 (e.g., a patient) is placed on an operation table 102 (e.g., a surgical table). In some embodiments, and for some surgical procedures, an incision is made in the patient 100 to gain access to the internal cavity 104. The trocar 200 is then inserted into the patient 100 at a selected location to provide access to the internal cavity 104 or operation site. The RSS 46 can then be maneuvered into position over the patient 100 and the trocar 200. In some embodiments, the RSS 46 includes a trocar mount that attaches to the trocar 200. The robotic assembly 20 can be coupled to the motor 40 and at least a portion of the robotic assembly can be inserted into the trocar 200 and hence into the internal cavity 104 of the patient 100. For example, the camera assembly 44 and the robotic arm assembly 42 can be inserted individually and sequentially into the patient 100 through the trocar 200. Although the camera assembly and the robotic arm assembly may include some portions that remain external to the subject’s body in use, references to insertion of the robotic arm assembly 42 and/or the camera assembly into an internal cavity of a subject and disposing the robotic arm assembly 42 and/or the camera assembly 44 in the internal cavity of the subject are referring to the portions of the robotic arm assembly 42 and the camera assembly 44 that are intended to be in the internal cavity of the subject during use. The sequential insertion method has the advantage of supporting smaller trocars and thus smaller incisions can be made in the patient 100, thus reducing the trauma experienced by the patient 100. In some embodiments, the camera assembly 44 and the robotic arm assembly 42 can be inserted in any order or in a specific order. In some embodiments, the camera assembly 44 can be followed by a first robot arm of the robotic arm assembly 42 and then followed by a second robot arm of the robotic arm assembly 42 all of which can be inserted into the trocar 200 and hence into the internal cavity 104. Once inserted into the patient 100, the RSS 46 can move the robotic arm assembly 42 and the camera assembly 44 to an operation site manually or automatically controlled by the operator console 11.

Further disclosure regarding control of movement of individual arms of a robotic arm assembly is provided in International Patent Application Publications WO 2022/094000 Al and WO 2021/231402 Al, each of which is incorporated by reference herein in its entirety.

FIG. 4A is a perspective view of a robotic arm subassembly 21 in accordance with some embodiments. The robotic arm subassembly 21 includes a robotic arm 42 A, the end-effector 45 having an instrument tip 120 (e.g., monopolar scissors, needle driver/holder, bipolar grasper, or any other appropriate tool), a shaft 122 supporting the robotic arm 42A. A distal end of the shaft 122 is coupled to the robotic arm 42A, and a proximal end of the shaft 122 is coupled to a housing 124 of the motor 40 (as shown in FIG. 2 A). At least a portion of the shaft 122 can be external to the internal cavity 104 (as shown in FIGS. 3 A and 3B). At least a portion of the shaft 122 can be inserted into the internal cavity 104 (as shown in FIGS. 3A and 3B).

FIG. 4B is a side view of the robotic arm assembly 42. The robotic arm assembly 42 includes a virtual shoulder 126, a virtual elbow 128 having position sensors 132 (e.g., capacitive proximity sensors), a virtual wrist 130, and the end-effector 45 in accordance with some embodiments. The virtual shoulder 126, the virtual elbow 128, the virtual wrist 130 can include a series of hinge and rotary joints to provide each arm with positionable, seven degrees of freedom, along with one additional grasping degree of freedom for the endeffector 45 in some embodiments.

FIG. 5 illustrates a perspective front view of a portion of the robotic assembly 20 configured for insertion into an internal body cavity of a patient. The robotic assembly 20 includes a first robotic arm 42 A and a second robotic arm 42B. The two robotic arms 42 A and 42B can define, or at least partially define, a virtual chest 140 of the robotic assembly 20 in some embodiments. In some embodiments, the virtual chest 140 (depicted as a triangle with dotted lines) can be defined by a chest plane extending between a first pivot point 142A of a most proximal joint of the first robotic arm 42A (e.g., a shoulder joint 126), a second pivot point 142B of a most proximal joint of the second robotic arm 42B, and a camera imaging center point 144 of the camera(s) 47. A pivot center 146 of the virtual chest 140 lies in the middle of the virtual chest. In some embodiments, sensors in one or both of the first robotic arm 42A and the second robotic arm 42B can be used by the system to determine a change in location in three- dimensional space of at least a portion of the robotic arm. In some embodiments, sensors in one or both of the first robotic arm and second robotic arm can be used by the system to determine a location in three-dimensional space of at least a portion of one robotic arm relative to a location in three-dimensional space of at least a portion of the other robotic arm.

In some embodiments, the camera assembly 44 is configured to obtain images from which the system can determine relative locations in three-dimensional space. For example, the camera assembly may include multiple cameras, at least two of which are laterally displaced from each other relative to an imaging axis, and the system may be configured to determine a distance to features within the internal body cavity. Further disclosure regarding a surgical robotic system including camera assembly and associated system for determining a distance to features may be found in International Patent Application Publication No. WO 2021/159409, entitled “System and Method for Determining Depth Perception In Vivo in a Surgical Robotic System,” and published August 12, 2021, which is incorporated by reference herein in its entirety. Information about the distance to features and information regarding optical properties of the cameras may be used by a system to determine relative locations in three-dimensional space.

Rounded Triangular Trocar

FIG. 6 shows a trocar 200 having a cannula 220 with a cannula body 230, a tapered distal section 240, and a cannula cap 207. As used herein, distal refers to the portion of the trocar 200 that is more distant from the patient cart and the trocar mount when the trocar 200 is installed on the trocar mount and proximal refers to the portion of the trocar 200 that is closer to the patient cart and the trocar mount (e.g., nearer the trocar cap 207). The trocar 200 also include an obturator 250 which is inserted into the cannula 220 and includes the obturator cap 251 and distal insertion tip 252. The trocar 200 also includes a trocar cap 201 and an insufflation port 205. The cannula body 230 includes three radially-shaped walls 231 A, 23 IB, 231C and three radially-shaped corners 232A, 232B, and 232C coupling the three radially-shaped walls to form the cannula body 230. Each of the radially-shaped walls 231 A, 23 IB, and 231C includes a ribbed surface 233.

The trocar 200 may be configured to receive a surgical robotic device component when one or more support tubes are fitted to a respective one or more of the radially-shaped comers 232A, 232B, and 232C. The trocar 200 may include a trocar cap 201 connected to and substantially concentric with the cannula body 230.

The cannula has a central longitudinal axis indicated by line 295.

FIG. 7 illustrates the obturator 250 having a distal insertion tip 252 forming a sharp or pointed end and connected to an obturator shaft 253 at a first end of the obturator shaft 253. At a second end of obturator shaft 253, opposite the first end, the obturator flange 254 connects to the obturator shaft 253. The obturator cap 251 attaches near the obturator flange 254. When the obturator 250 is inserted within the trocar 200 as shown in FIG. 6, the obturator shaft 253 fits within the cannula body 230 and the obturator flange 254 sits within the cannula cap 207, and the obturator cap 251 connects the obturator 250 to the trocar 200. When the trocar 200 is inserted into an incision, pointed surfaces of the distal insertion tip 252 assist in opening the incision to permit entry of the trocar 200.

FIG. 8 illustrates an exploded view of parts of trocar 200, specifically: the cannula 220 including the insufflation port 205, the cannula cap 207, and the cannula body 230, the trocar cap 201, and a seal assembly 201. When the trocar 200 is assembled, the seal assembly 201 is seated within the cannula cap 207 of the cannula 220 and held in place by the trocar cap 201. The trocar cap 201 may be connected to the cannula cap 207 by various means, such as a snap fit connection or a screw connection.

FIGS. 9A-9E illustrate additional views of the trocar 200 including the cannula 220, the seal assemble 201, and the trocar cap 201. The cannula 220 includes the cannula cap 207, the insufflation port 205, the cannula body 230, and the tapered distal section 240. The cannula body 230 includes three radially-shaped walls 231 A, 23 IB, 231C and three radially- shaped corners 232A, 232B, and 232C coupling the three radially-shaped walls to form the cannula body 230. In some embodiments, each of the radially-shaped walls 231 A, 23 IB, and 231C includes a ribbed surface 233. In some embodiments, some, all, or none of the radially- shaped walls 231 A, 23 IB, and 231C includes a ribbed surface 233. The tapered distal section 240 includes a position indicator 241. The position indicator 241 may be used to assist a user in identifying that the cannula 220 has been inserted to a proper depth in a body cavity. Specifically, after the cannula 220 is inserted into the body cavity, the camera assembly 44 may be passed through the cannula 220 and deployed in the body cavity. Once the camera assembly 44 is deployed, the user can use the camera 47 to view the tapered distal section 240 and the position indicator 241 to confirm the depth to which the cannula 220 is inserted into the body cavity and the cannula 220 may be inserted further or withdrawn, as needed, in view of the depth indicated by the position indicator 241. The ribbed surface 233 on the radially-shaped walls 231 A, 23 IB, and 231C provides increased grip for the cannula 220 against skin and tissue of the incision to help to hold the cannula 220 in place in the incision. The three radially-shaped corners 232A, 232B, and 232C may be smooth walled so that additional depth is not added at the comers that would increase the radius of the cross-section of the cannula 220 at the position of the radially-shaped corners 232A, 232B, and 232C.

FIGs. 10 and 11 illustrates a side view and a perspective view, respectively, of the tapered distal section 240 of the cannula 220. The taper of the tapered distal section 240 may assist in relieving pressure against the incision as the cannula 220 is inserted into and moved within the incision. Position indicator 241, shown in FIG. 10, may be used to determine the depth at which the cannula 220 has been inserted in a body cavity.

FIG. 12 illustrates a cross section 235 of the cannula body 230 of the cannula 220. The cross section 235 shows the three radially-shaped walls 231 A, 23 IB, and 231C of the cannula body 230 and the three radially-shaped comers 232A, 232B, and 232C coupling the three radially-shaped walls 231 A, 23 IB, and 231C to form the cannula body 230 of the cannula 220. Each of the three radially-shaped walls 231 A, 23 IB, and 231C has a first radius and each of the three radially-shaped comers 232A, 232B, and 232C has a second radius. The first radius and the second radius may reduce pulling of the trocar 200 against an incision. The cross section 235 shows that the maximum interior width of the cannula body 230 in the embodiment depicted is 19.2 mm. The dimensions may be adjusted to account for the size of the components to be fitted within the cannula 230 and suitable dimensions for surgical use.

FIG. 13 illustrates the cross section 235 of the cannula body 230 showing two support tubes 260A, 260B. The first support tube 260A is seated against the first radially-shaped comer 232A. The second support tube 260B is seated against the second radially-shaped comer 232B. The arm 42 is introduced along the third radially-shaped comer 232C and is coupled to a third support tube 260C. When each of the support tubes 260 A, 260B is seated against a respective radially-shaped comer 232A, 232B, there is sufficient space to allowing passage of the arm 42 and flexing and movement of each of the support tubes 260A, 260B within the cannula 220.

FIG. 14 illustrates a comparison between the cannula 220 according to the present disclosure with a cross section 235 having lengths 290, 290’, and 290” and a round cannula body 330 with a round cross-section 335 having diameter 390 in a round cannula 320 demonstrating certain advantages of some embodiments. In the round cannula 320, the support tubes 260A, 260B and the arm 42 (with the support tube 260C) are not nested within respective radially-shaped comers 232A, 232B, and 232C. Instead, the support tubes 260A, 260B and the arm 42 (with the support tube 260C) are placed against the round of substantially round cross-section 335. Accordingly, there is less room, as shown by the tight fit between the first support tube 260A and the arm 42, even though the length 290 of the cannula 230 is substantially the same as the diameter 390 of the round cannula body 330.

FIGs. 15 A, 15B, and 15C show a sequence of steps for inserting components in a cannula body 430 in accordance with some embodiments. In FIG. 15 A, a camera pill 48 is inserted through the cannula body 430. The camera pill 48 is coupled to the first support tube 260A. In FIG. 15B, the camera pill 48 has passed through the cannula body 430 leaving the first support tube 260A and a first arm 42 coupled to the second support tube 260B is passing through the cannula body 430. In FIG. 15B, the first support tube 260A remains and the first arm 42 has passed through the cannula body 430 leaving the second support tube 260B in the cannula body 430. An outline of the first arm 42 is shown for reference. A second arm 42’ coupled to the third support tube 260C is passing through the cannula body 430. The loading sequence shown in FIGs. 15A-15C is exemplary and allows for an efficient use of the available space by passing the largest components first, before any space is occupied by the one or more support tubes 260 A, 260B, and 260C.

While some embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and substitutions will now occur to those skilled in the art without departing from the invention. It may be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention. It is intended that the following claims define the scope of the invention and that methods and structures within the scope of these claims and their equivalents be covered thereby.

Claims

WHAT IS CLAIMED IS:

1. A trocar comprising three radially-shaped walls and three radially-shaped corners coupling the three radially-shaped walls to form a cannula body of a cannula.

2. The trocar of claim 1, wherein each of the three radially-shaped walls has a first radius and each of the three radially-shaped comers has a second radius.

3. The trocar of claim 2, wherein the first radius and the second radius reduce pulling of the trocar against an incision.

4. The trocar of claim 1, wherein the cannula further comprises a tapered distal section.

5. The trocar of claim 1, further comprising an obturator having a distal insertion tip, the obturator insertable at least partially within the cannula.

6. The trocar of claim 1, wherein the cannula is configured to receive at least three support tubes extending through the cannula parallel to a longitudinal axis of the cannula, each of the support tubes having a substantially circular cross section.

7. The trocar of claim 6, wherein each of the radially-shaped comers has a radius similar to a radius of one of the support tubes.

8. The trocar of claim 7, wherein the trocar is configured to receive a surgical robotic device component when one or more support tubes is fitted to a respective one or more of the radially-shaped comers.

9. The trocar of claim 1, wherein a first of the radially-shaped comers extends between a first and a second of the three radially-shaped walls, a second of the radially-shaped corners extends between a second and a third of the three radially-shaped walls, and a third of the radially-shaped comers extends between the first and the third of the three radially-shaped walls.

10. The trocar of claim 1, wherein each of the three radially-shaped walls has a radius relative to a central longitudinal axis of the cannula.

11. A surgical robotic system comprising: a robot support system; a camera unit including a camera support tube, a camera connection interface at a first end of the camera support tube, and a camera pill at a second end of the camera support tube opposite the first end of the camera support tube; a first robotic arm including a first robotic arm support tube, a first robotic arm connection interface at a first end of the first robotic arm support tube, and a first end effector at a second end of the camera support tube opposition the first end of the camera support tube; a second robotic arm including a second robotic arm support tube, a second robotic arm connection interface at a first end of the second robotic arm support tube, and a second end effector at a second end of the camera support tube opposition the first end of the camera support tube; and a trocar comprising three radially-shaped walls and three radially-shaped comers coupling the three radially-shaped walls to form a cannula body of a cannula.

12. The surgical robotic system of claim 11, wherein each of the three radially-shaped comers is configured to receive a portion of one of the camera support tube, the first robotic arm support tube, or the second robotic arm support tube.

13. The surgical robotic system of claim 11, wherein the trocar is configured to permit each of the camera pill, the first end effector, and the second end effector to pass through the cannula body of the trocar.

14. The surgical robotic system of claim 12, wherein the cannula body has a size and shape to receive the second end effector while the camera support tube and the first robotic arm support tube are fitted to respective radially-shaped corners.

15. A method for assembling a surgical robotic system to be introduced via a trocar comprising a cannula body having three radially-shaped walls and three radially-shaped comers, the method comprising: feeding a camera pill attached to a camera support tube through the hollow tube; and feeding the camera support tube partially through the cannula body and permitting a section of the camera support tube to rest against a first of the radially-shaped corners.

16. The method of claim 15, further comprising: feeding a first end effector attached to a first robotic arm support tube through the cannula body by passing the first end effector through the cannula body proximate the camera support tube; and feeding the first robotic arm support tube at least partially through the hollow tube and permitting a section of the first robotic arm support tube to rest against a second of the radially-shaped comers.

17. The method of claim 16, further comprising: feeding a second end effector attached to a second robotic arm support tube through the cannula body by passing the second end effector through the tube proximate the camera support tube and the first robotic arm support tube; and feeding the second robotic arm support tube at least partially through the cannula body and permitting a section of the second robotic arm support tube to rest against a third of the radially-shaped corners.

18. The method of claim 15, further comprising inserting the trocar into an incision before feeding any of the camera pill, the first end effector, or the third end effector through the cannula body.