CN116322561A - System and method for interfacing surgical robotic arms - Google Patents

Abstract

Methods and apparatus for attaching a cannula to a surgical robotic arm are described and claimed.

Description

System and method for interfacing surgical robotic arms

Technical Field

The present disclosure relates generally to the field of robotic surgery, and more particularly to systems and methods for surgical arm docking.

Background

Minimally Invasive Surgery (MIS) such as laparoscopic surgery involves techniques that aim to reduce tissue damage during surgical procedures. For example, laparoscopic procedures typically involve making a plurality of small incisions in a patient (e.g., in the abdomen) and introducing one or more tools and at least one endoscopic camera into the patient through the incisions. The surgical procedure is then performed by using the introduced tool, wherein the visualization assistance is provided by the camera. Generally, MIS provides multiple benefits, such as reduced patient scarring, reduced patient pain, reduced patient recovery, and reduced medical costs associated with patient recovery. In some embodiments, MIS may be performed with a robotic system that includes one or more robotic arms for manipulating a surgical instrument based on commands from an operator.

During robotic MIS, a surgeon or other operator may use a number of different surgical instruments to perform a procedure at a surgical site. In general, a surgeon may rely on the use of a trocar or cannula to target a site within a patient. The cannula may provide a channel or opening through which a surgeon may introduce and remove additional surgical instruments. For example, a cannula may be positioned within a patient's body cavity, and a surgical instrument may be inserted into the cannula and guided into the body cavity via the cannula. In robotic systems, the cannula may be mounted to one or more robotic arms that may be remotely controlled by a surgeon to move the cannula. The cannula mount may be used to attach the cannula to the robotic arm to ensure proper control and placement of the cannula within the patient.

Disclosure of Invention

In the MIS procedure, once the cannula of the trocar is properly positioned and inserted through tissue and into the interior region of the patient, a robotic arm or tool drive is attached to the cannula to provide a rigid mechanical attachment of the robotic arm and cannula. Such attachment of the robotic arm and cannula may, for example, provide stabilization of the cannula such that one or more surgical tools may be inserted through the lumen of the cannula and into the interior region of the patient. In this regard, the attachment means or docking interface located on the distal block of the robotic arm/tool drive means is manipulated until the attachment means is aligned with the attachment portion of the cannula (e.g., cannula boss) exposed outside the patient. The attachment means or interface of the robotic arm/tool drive is then latched (or clamped) to the attachment portion of the cannula to provide a rigid mechanical attachment of the robotic arm/tool drive and the cannula.

The robotic arm (on the operating table or on the cart) may be guided manually or autonomously by the operator or surgeon towards the cannula within the surgical port (incision). The goal is to "dock" the surgical arm to the cannula/trocar to establish a rigid connection, and then deploy the surgical tool through the access channel. Due to the delicate nature of the interactions with the surgical incision and the limited space in the operating room, this operation should be performed by one person with one hand on the robot and with one hand on the cannula. However, the ability of the user to grasp the arm is limited by the cannula latch (e.g., lever or actuator of the attachment device) position and arm geometry. For example, the latch may not be accessible in all configurations and the geometry of the arm may provide a pinch point. In one aspect, an improved manner of interfacing the arms is provided that maintains a mechanical connection, allows the user to grasp the arms wherever he/she wants, and provides audible, tactile, and visual feedback regarding the success of the task. Typically, a docking interface or attachment means is provided that automatically steps through the three required states during arm-to-cannula docking. These states are: 1) unlock the open position, which allows the user to signal that the system "docked mode" is in progress, 2) mechanically detect that the cannula latch is in the correct position for docking, 3) automatically clamp the cannula latch and signal the user. Typically, the attachment means may comprise a lever or actuator coupled to the clamp, the lever or actuator having an unlocking mechanism which, when triggered by a user, holds the clamp in an open configuration (open position). This configuration is maintained until the cannula is detected "mechanically" and the mechanism automatically steps through the clamping action.

In another aspect, the system may include sensing and logic for detecting docking of the cannula to the surgical robotic arm using the attachment device. Typically, a set of sensors may be integrated into the attachment device or interface that drive a finite state machine to detect the presence of a cannula, latch or clamp onto the cannula appropriately, the type of cannula that has been docked, and any situation that may indicate the release of the cannula. Each of these states may then be communicated to the user using visual, audio, or other forms of feedback on the robotic arm, as well as any form of similar feedback via the surgeon's bridge. Typically, when the robotic arm is ready to dock to the cannula, the latch, lever or actuator may be depressed to open the attachment device and allow it to rest on the unlatch member that holds the latch open. This movement of the latch actuator may be sensed by two redundant latch position encoders and enables a gravity compensated active return (GCAB) drive mechanism associated with the surgical robotic arm to be used to position the arm to the docked position. Once the arm is positioned and the cannula is pushed into the distal block, the unlocking member will disengage, allowing the latch to close and secure the cannula to the arm. At this point, the latch position encoder may sense that the attachment device has been closed and has passed a mechanical over-center (GCAB) point that deactivates the GCAB and holds the arm in the docked position. The signals from these encoders are actively monitored and if the lever or latch is accidentally depressed after the cannula has been docked, the state machine will transition to an error state that should stop the procedure and notify the user.

In another aspect, the present invention provides an over-center latching mechanism with structural alignment features as part of the attachment device and/or cannula to ensure proper attachment between the attachment device and the cannula and/or cannula sterile adapter, and the cannula sterile adapter has both flexible and rigid portions to ensure proper attachment and/or alignment between the cannula and the attachment device. Typically, the attachment means may comprise a lever, actuator or the like having an eccentric configuration that ensures that the lever (or latch) cannot be driven back to the open position by a force applied to the cannula. Once over-center, the latch will gradually force itself closed with any added load applied to the cannula. This aspect ensures that the cannula is securely and reliably held to the robotic arm during surgery. In another aspect, the cannula and the attachment device interface may have alignment features that mate with one another to ensure proper alignment and attachment of the cannula to the attachment device. In still other aspects, the sterile adapter between the cannula and the attachment device may have both rigid and structural features that allow the interface surfaces of the cannula and the attachment device alignment features to mate with one another and provide a secure attachment between the two structures.

In another aspect, the attachment device may include a ball bearing trigger mechanism that reduces wear and increases reliability of the attachment device. Typically, the unlocking mechanism of the attachment device (holding the device in the open configuration) may comprise a trigger hook that interfaces with a ball bearing on the lever or actuator, rather than a fixed structure. This in turn reduces wear between the interface surfaces. In addition, the trigger hook geometry may be configured to have a particular size and shape that allows a desired amount of force to transition the unlocking mechanism between an unlocking open position in which the unlocking mechanism engages the bearing and a closed position in which the hook disengages the bearing.

In another aspect, the attachment device may have an adjustment mechanism for adjusting the mating force required to transition the attachment device between an unlocked open position (e.g., the unlocking mechanism engages the ball bearing) and a closed position (e.g., the unlocking mechanism disengages the ball bearing). For example, the attachment means may comprise a set screw positioned between the unlocking mechanism hook and the bearing, which set screw biases the unlocking member towards disengagement when tightened. When the lock adjustment set screw is tightened, the lock adjustment set screw presses against the bearing and displaces the unlocking member such that the lock adjustment set screw engages less with the unlocking bearing than before the lock adjustment set screw was tightened. By shortening the distance that the unlocking member must travel to become disengaged, the force can be reduced. The opposite can be achieved by loosening the set screw and allowing more engagement. In some aspects, the adjustment mechanism is operable to adjust the force required to disengage the unlocking bearing to a range of 3 to 14 lbf.

Representatively, in one aspect, an apparatus for attaching a cannula to a robotic surgical system includes: a first clamp member configured to transition between an open position and a closed position; a second clamp member spaced apart from the first clamp member, the first clamp member and the second clamp member defining a region configured to receive a portion of the cannula and configured to retain the portion of the cannula in the region when the first clamp member is in the closed position; and a locking member configured to lock the first clamping member in the open position and allow the first clamping member to automatically transition to the closed position based on the position of the portion of the cannula within the region. In one aspect, the locking member locks the first member in the open position when the position of the portion of the cannula is misaligned within the region. In another aspect, the first clamp member automatically transitions from the open position to the closed position when the position of the portion of the cannula is aligned within the region. In another aspect, when the cannula is aligned within the region, the cannula contacts a portion of the locking member and disengages the locking member from the first clamping member, thereby allowing the first clamping member to transition from the open position to the closed position. Furthermore, the locking member may mechanically detect whether the portion of the cannula is in an aligned position or a misaligned position within the area. The apparatus may further include one or more processors configured to signal to a robotic surgical system user that the cannula is in the process of attaching the cannula to the robotic surgical system when the first clamping member is in the open position and the portion of the cannula is within the area.

In another aspect, a system for attaching a cannula to a robotic surgical system includes a clamp assembly having an open position configured to receive the cannula and a closed position configured to attach the cannula to a robotic arm of the robotic surgical system; a locking assembly coupled to the clamp assembly, the locking assembly configured to lock the clamp assembly in the open position and allow the clamp assembly to automatically transition to the closed position based on the position of the cannula within the clamp assembly; and one or more processors configured to signal the robotic surgical system to the clamping assembly to be in a docked mode when the clamping assembly is locked in the open position or to the clamping assembly to be in a clamped mode when the clamping assembly is locked in the closed position. In some aspects, in the docked mode, the clamp assembly remains locked in the open position until the detected position of the cannula is a position suitable for attachment to the surgical robotic system. In the clamping mode, the surgical robotic system may notify the user that the cannula is attached to the robotic surgical system. In another aspect, the locking assembly may lock the clamp assembly in the open position when the cannula's test position is misaligned. In some aspects, the locking assembly is further configured to transition the clamping assembly from the open position to the closed position when the detected position of the cannula is aligned. The locking assembly may include a lever coupled to an unlocking mechanism that locks or unlocks the clamp assembly based on the position of the cannula.

In another aspect, a system for detecting attachment of a cannula to a robotic surgical system may include: a clamping assembly having an open position configured to receive the cannula and a closed position configured to attach the cannula to a robotic arm of the robotic surgical system; a sensor assembly operable to sense a characteristic of the clamp assembly; and one or more processors configured to determine a status of the clamping assembly based on the characteristics sensed by the one or more sensors and provide feedback to a user regarding the status of the clamping assembly. The clamp assembly may include a lever operable to transition the clamp assembly between an open position and a closed position, and the sensor assembly includes a position sensor coupled to the lever. In some aspects, the characteristic sensed by the position sensor is an angle of the lever. In some aspects, the state of the clamp assembly determined by the one or more processors is an open position or a closed position, and is determined based on the angle of the lever. In some aspects, a visual feedback mechanism or an audio feedback mechanism may be provided that indicates to the user the status of the clamping assembly as: (1) The cannula is present within the clamping assembly or (2) the cannula has been released from the clamping assembly.

In another aspect, a system for detecting attachment of a cannula to a robotic surgical system includes: a clamping assembly having an open position configured to receive the cannula and a closed position configured to attach the cannula to a robotic arm of the robotic surgical system; a sensor assembly operable to sense a characteristic of the cannula as the cannula is received by the clamp assembly; and one or more processors configured to determine a status of the cannula based on the characteristics sensed by the one or more sensors and provide feedback to the user regarding the status of the cannula. In some aspects, the position sensor is a magnetic encoder and the cannula includes a magnet that is sensed by the magnetic encoder to sense a characteristic of the cannula. In another aspect, the characteristic of the cannula includes the cannula being present within the receiving portion of the clamping assembly. In some aspects, the state of the cannula determined based on the characteristics is that the cannula is properly attached to the robotic arm or that the attachment of the cannula to the robotic arm is released. In another aspect, the characteristic of the cannula is the type of cannula within the receiving portion of the clamping assembly. In some aspects, the type of cannula within the receiving portion of the clamping assembly is determined based on an angle of a magnet coupled to the cannula. In another aspect, the system includes a visual feedback mechanism or an audio feedback mechanism.

In another aspect, a method for controlling attachment of a cannula to a robotic surgical system may include: a clamp assembly configured to attach the cannula to the robotic surgical system, the clamp assembly operable to transition between an open position configured to receive the cannula and a closed position to attach the cannula to the robotic surgical system; a sensor assembly operable to detect whether the clamp assembly is in an open or closed position, or the presence of a cannula received by the clamp assembly; and one or more processors configured to control attachment of the cannula to the robotic surgical system based on detection by the sensor assembly. In some aspects, the one or more processors disengage the surgical robotic system from a brake assembly associated with a surgical robotic arm coupled to the clamp assembly when the sensor assembly detects that the clamp assembly is in the open position; a gravity compensated active return drive mechanism associated with the surgical robotic arm is engaged to allow positioning of the cannula within the clamping assembly. In another aspect, the one or more processors cause the surgical robotic system to engage a brake assembly associated with the surgical robotic arm when the sensor assembly detects a transition of the clamp assembly to the closed position; and disengaging a gravity-compensated active return drive mechanism associated with the surgical robotic arm such that a current position of the cannula relative to the clamping assembly is maintained. In another aspect, when the sensor assembly detects a transition of the clamp assembly to the closed position, the one or more processors cause the surgical robotic system to engage a brake assembly associated with a surgical robotic arm coupled to the cannula; and disengaging the gravity-compensated active return drive mechanism associated with the surgical robotic arm. In another aspect, the sensor assembly also detects the presence of the cannula within the clamp assembly, and upon detecting the presence of the cannula, the one or more processors cause the surgical robotic system to notify the user that the cannula is attached to the surgical robotic system. In another aspect, the sensor assembly also detects the presence of a cannula within the clamp assembly, and upon detecting the presence of a cannula, the one or more processors cause the surgical robotic system to determine a cannula type; and informing the user of the cannula type. In another aspect, the one or more processors cause the surgical robotic system to engage a brake assembly associated with the surgical robotic arm when the sensor assembly detects a transition of the clamp assembly to the open position, detects that the cannula is not present within the clamp assembly, or does not sense a cannula Identifier (ID); and notifying the user that the surgical robotic system is ready for cannula attachment.

In another aspect, an apparatus for attachment of a cannula to a robotic surgical system may include: a clamp operable to be configured to transition between an open position to receive a cannula and a closed position to attach the cannula to a robotic surgical system; an actuator operable to transition the clamp between an open position and a closed position; a connecting member pivotally coupled to the clamp at a first pivot point and pivotally coupled to the actuator at a second pivot point, and wherein in the closed position the second pivot point is eccentric relative to the first pivot point. In some aspects, in the closed position, the second pivot point is eccentric an angle of one degree or less relative to the first pivot point. In another aspect, the second pivot point is eccentric relative to the first pivot point such that the clip gradually forces itself to the closed position with any increased load applied to the cannula attached to the robotic surgical system. In another aspect, decentering the second pivot point relative to the first pivot point prevents the clamp from transitioning to the open position when a force is applied to a cannula attached to the robotic surgical system. In another aspect, the clamp may include a first end rotatably coupled to the base member at a third pivot point and a second end rotated to a forward position to attach the cannula to the robotic surgical system. The second end may include a cannula mating feature configured to enhance attachment of the cannula to the robotic surgical system. In some aspects, the actuator is coupled to the base member at a fourth pivot point to form a four-bar linkage. In some aspects, the actuator includes a first end configured to allow a user to manually cause the actuator to transition the clip to the open position and a second end proximate to an unlocking mechanism, wherein the unlocking mechanism engages the actuator to lock the clip in the open position and disengages the actuator to allow the clip to transition to the closed position when contacted by the cannula. In another aspect, the apparatus may further include a base member having a cannula receiving chamber within which the cannula is positioned when attached to the robotic surgical system by the clamp, and wherein the receiving chamber includes a cannula mating feature to guide the cannula into the receiving chamber and prevent misalignment of the cannula.

In another aspect, a sterile adapter for attaching a cannula to a robotic surgical system includes: a rigid barrier portion having a cannula hub, a first cannula hub structure extending from the cannula hub, and a second cannula hub defining an opening configured to receive a cannula boss, the first cannula hub and the second cannula hub being sized to interface with the alignment structure of the cannula boss; and a flexible barrier portion molded to the rigid barrier portion, the flexible barrier portion defining a cavity surrounding an opening of the rigid barrier portion, the opening sized to receive a cannula boss inserted therein, the cavity having a first side defined by the first cannula interface structure and a second side along which the second cannula interface structure is positioned, and wherein the second cannula interface structure is completely surrounded by the flexible barrier portion. In some aspects, the cannula interface includes a plate having an arm side facing a robotic surgical arm of the robotic surgical system and a cannula side facing the cannula boss, and the first cannula interface structure extends from the arm side in a direction of the robotic surgical arm. The flexible barrier portion may be molded to the arm side of the plate and define at least three sides of the cavity. In some aspects, the first cannula interface structure may include a keel structure sized to interface with a complementary recessed area of the cannula boss. In some aspects, the rigid clip interface portion may include a plate molded to the second side. In some aspects, the angle of the plate may be modified to the angle of the alignment structure of the cannula boss. In some aspects, a retention tab is coupled to the second side of the flexible barrier portion, and the retention tab is sized to retain the cannula sterile adapter within the clamp assembly during insertion and removal of the cannula boss within the clamp assembly. Additionally, a mating datum may be coupled to the third side of the flexible barrier portion and configured to maintain alignment between a cannula boss inserted therein and an axis of an associated tool. In some aspects, the rigid barrier portion is formed from a plastic material. In some aspects, the flexible barrier portion is formed from a flexible elastomeric material that is overmolded onto the rigid barrier portion. In some aspects, the flexible barrier portion comprises a thermoplastic polyurethane.

In another aspect, an apparatus for attaching a cannula to a robotic surgical system may comprise: a clamp assembly configured to attach the cannula to the robotic surgical system, the clamp assembly comprising an actuator coupled to the clamp to transition the clamp between an open position configured to receive the cannula and a closed position to attach the cannula to the robotic surgical system; and an unlocking assembly coupled to the clamp assembly to control the transition of the clamp, the unlocking assembly having a hook sized to engage a bearing coupled to the actuator and disengage the bearing when the clamp is in the open position to allow the clamp to automatically transition to the closed position. In some aspects, the hook may include a point of tangency that extends beyond the bearing to engage the tip of the bearing, and when the tip is aligned with the point of tangency, the hook disengages the bearing to allow the clamp to transition to the closed position. In some aspects, aligning the tip with the tangent point causes the bearing to rotate, which allows the hook to disengage from the bearing. In some aspects, the hooks are coupled to a spring to bias the hooks to engage the bearing. In some aspects, engagement or disengagement between the hook and the bearing provides audible or tactile feedback that informs the user of the engaged state of the unlocking assembly. The unlocking assembly may disengage from the bearing when contacted by a cannula inserted into the clamping assembly. The apparatus may further comprise an adjustment mechanism operable to adjust the force required to engage or disengage the hook from the bearing. The adjustment mechanism may include a set screw that is adjustable between a first position that increases the spacing between the hook and the bearing and a second position that decreases the spacing between the hook and the bearing. In some aspects, in the first position, the force required to disengage the hook from the bearing is reduced. In some aspects, in the second position, the force required to disengage the hook from the bearing increases.

In another aspect, an apparatus for attaching a cannula to a robotic surgical system may include a clamp operable to transition between an open position configured to receive a cannula and a closed position to attach a cannula to a robotic surgical system; a locking assembly coupled to the clamp assembly to hold the clamp in the open position and release the clamp to the closed position when a force is applied by the cannula, the locking assembly having an unlocking hook that engages an unlocking bearing of the clamp in the open position and disengages the unlocking bearing to release the clamp to the closed position; and an adjustment member operable to adjust the force required to disengage the unlocking bearing. In some aspects, the unlocking hook is biased toward engagement of the unlocking bearing by a spring. In another aspect, the adjustment member biases the position of the unlocking hook away from the unlocking bearing to reduce the force required to disengage the unlocking bearing. In another aspect, the adjustment member biases the position of the unlocking hook toward the unlocking bearing to increase the force required to disengage the unlocking bearing. In some aspects, the adjustment member includes a set screw extending through the shackle to an interface between the shackle and the unlocking bearing. In one aspect, tightening the set screw shifts the position of the shackle away from the unlocking bearing. In another aspect, loosening the set screw biases the position of the shackle toward the unlocking bearing. In some aspects, the unlocking bearing is a ball bearing. In another aspect, the clamp may include an actuator coupled to the first clamp member of the clamp and operable to move the first clamp member between the open position and the closed position, and a ball bearing coupled to the actuator.

The above summary does not include an exhaustive list of all aspects of the invention. It is contemplated that the present invention includes all systems and methods that can be practiced with all suitable combinations of the various aspects outlined above as well as those disclosed in the detailed description which follows and particularly pointed out in the claims filed with this patent application. Such a combination has particular advantages not specifically recited in the above summary.

Drawings

Fig. 1 is an overview schematic of an operating room arrangement with a surgical robotic system.

Fig. 2 is a perspective view of a portion of a robotic arm according to one aspect of the present disclosure.

Fig. 3 is a schematic perspective view of an attachment device of the robotic arm of fig. 2.

Fig. 4A is a cross-sectional side view of the attachment device of the robotic arm of fig. 2 in an open position.

Fig. 4B is a cross-sectional side view of the attachment device of the robotic arm of fig. 2 in a closed position.

Fig. 5 is a process flow diagram of a method for providing user feedback regarding the attachment means of the robotic arm of fig. 2.

Fig. 6 is a cross-sectional side view of a sensor assembly associated with the attachment device of fig. 4A-4B.

Fig. 7 is a process flow diagram of a method for detecting docking using the attachment device of the robotic arm of fig. 2.

Fig. 8A is a cross-sectional side view of another aspect of the attachment device of fig. 4A-4B in an open position.

Fig. 8B is a cross-sectional side view of another aspect of the attachment device of fig. 4B-4B.

Fig. 9A is a cross-sectional side view of another aspect of the attachment device of fig. 4A-4B.

Fig. 9B is an enlarged cross-sectional side view of a portion of the attachment device of fig. 9A.

Fig. 9C is a cross-sectional side view of another aspect of the attachment device of fig. 4A-4B.

Fig. 9D is a cross-sectional side view of another aspect of the attachment device of fig. 4B-4B.

Fig. 10A is a cross-sectional side view of another aspect of the attachment device of fig. 4A-4B.

Fig. 10B is a bottom side perspective view of a portion of the attachment device of fig. 4A-4B.

Fig. 10C is a top side perspective view of a portion of the attachment device of fig. 4A-4B.

Fig. 11A is a bottom perspective view of the sterile adapter of the attachment device of fig. 4A-4B.

Fig. 11B is a top perspective view of the sterile adapter of fig. 11A.

Fig. 11C is a cross-sectional side view of a portion of the sterile adapter of fig. 11A with the attachment device in an open position.

Fig. 11D is a cross-sectional side view of the sterile adapter of fig. 11A with the attachment device in a closed position.

Fig. 12 is a block diagram of a computer portion of a user console for a surgical robotic system including a robotic arm and an attachment mechanism, according to an embodiment.

Detailed Description

In various embodiments, the description is with reference to the accompanying drawings. However, certain embodiments may be practiced without one or more of these specific details, or in combination with other known methods and configurations. In the following description, numerous specific details are set forth, such as specific configurations, dimensions, and processes, in order to provide a thorough understanding of the embodiments. In other instances, well-known processes and manufacturing techniques have not been described in particular detail so as not to unnecessarily obscure the description. Reference throughout this specification to "one embodiment," "an embodiment," and the like, means that a particular feature, structure, configuration, or characteristic described is included in at least one embodiment. Thus, the appearances of the phrases "one embodiment," "an embodiment," and the like appearing in various places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, configurations, or characteristics may be combined in any suitable manner in one or more embodiments.

Furthermore, the terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the invention. Spatially relative terms, such as "below," "lower," "above," "upper," and the like, may be used herein for ease of description to describe one element or feature's relationship to another element or feature as illustrated. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" may encompass both above and below orientations. The device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.

As used herein, the terms "or" and/or "are to be understood as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C. An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.

Furthermore, relative terms used throughout the description may refer to relative positions or directions. For example, "distal" may indicate a first direction away from a reference point (e.g., away from a user). Similarly, "proximal" may indicate a position in a second direction (e.g., toward the user) opposite the first direction. However, such terms are provided to establish a relative frame of reference and are not intended to limit the use or orientation of any particular surgical robotic component to the specific configurations described in the various embodiments below.

Referring to fig. 1, this is a pictorial view of an exemplary surgical robotic system 100 in a surgical field. The surgical robotic system 100 includes a user console 102, a control tower 103, and one or more surgical robots 120 (including a robotic arm 104) at a surgical robot platform 105 (e.g., an operating table, a bed, etc.). The system 100 may incorporate any number of devices, tools, or accessories for performing a surgical procedure on the patient 106. For example, the system 100 may include one or more surgical tools 107 for performing a surgical procedure. The surgical tool 107 may be an end effector attached to the distal end of the surgical arm 104 for performing a surgical procedure.

Each surgical tool 107 may be manually manipulated during surgery, robotically manipulated, or both. For example, the surgical tool 107 may be a tool for accessing, viewing, or manipulating the internal anatomy of the patient 106. In one embodiment, the surgical tool 107 is a grasper that grasps tissue of a patient. The surgical tool 107 may be manually controlled by a bedside operator 108; or it may be robotically controlled by the actuated movement of the surgical robotic arm 104 to which it is attached. The robotic arm 104 is shown as a table mounted system, but in other configurations the arm 104 may be mounted on a cart, ceiling, or side wall, or in another suitable structural support.

In general, a remote operator 109 (such as a surgeon or other operator) can use the user console 102 to remotely manipulate the arm 104 and/or attached surgical tool 107, e.g., remotely. Remote operations may be entered or disengaged based on user actions. It should be understood that "entering" a teleoperational mode is intended to refer to an operation that is prevented from, for example, a UID or foot switch controlling a surgical instrument being transitioned to a mode (e.g., teleoperational mode) in which the surgical instrument is now controllable. On the other hand, exiting teleoperational mode is intended to refer to an operation that occurs when the system is in teleoperational mode and then transitions to a mode (non-teleoperational mode) in which the UID or foot switch may no longer control the surgical instrument. For example, the remote operation mode may be disengaged when the system determines that the detected movement is an unintended action or movement of the user or any other action by which the user enters a recommendation to no longer participate in the remote operation mode.

The user console 102 may be located in the same operating room as the rest of the system 100, as shown in fig. 1. However, in other environments, the user console 102 may be located in a neighboring or nearby room, or it may be located at a remote location, for example, in a different building, city, or country. The user console 102 may include a seat 110, one or more user interface devices such as a foot control 113 or a hand-held User Input Device (UID) 114, and at least one user display 115 configured to display a view of a surgical site within, for example, the patient 106. In the exemplary user console 102, a remote operator 109 sits in a seat 110 and views a user display 115 while manipulating a foot control 113 and a handheld UID 114 in order to remotely control the arm 104 and surgical tool 107 (which is mounted on the distal end of the arm 104).

In some variations, the bedside operator 108 may also operate the system 100 in a "bedside" mode, where the bedside operator 108 (user) is now on one side of the patient 106 and simultaneously manipulates the robot-driven tool (end effector attached to the arm 104), e.g., holding the handheld UID 114 and manual laparoscopic tool with one hand. For example, the left hand of the bedside operator may manipulate the handheld UID to control robotic components, while the right hand of the bedside operator may manipulate the manual laparoscopic tool. Thus, in these variations, the bedside operator 108 may perform both robot-assisted minimally invasive surgery and manual laparoscopic surgery on the patient 106.

During an exemplary procedure (surgery), a patient 106 is surgically prepared and covered with a drape in a sterile manner to effect anesthesia. Initial access to the surgical site (to facilitate access to the surgical site) may be manually performed while the arms of the robotic system 100 are in the stowed configuration or the retracted configuration. To form a port that enables introduction of a surgical instrument into the patient 106, the trocar assembly may be at least partially inserted into the patient through an incision or access point in the patient (e.g., in the abdominal wall). The trocar assembly may include a cannula or trocar, obturator, and/or seal. In some variations, the trocar assembly may include an obturator, such as a needle having a sharp tip for penetrating the skin of a patient. The obturator may be disposed within the lumen of the cannula upon insertion into the patient 106 and then removed from the cannula so that a surgical instrument may be inserted through the lumen of the cannula. Once positioned within the body of the patient 106, the cannula may provide access for accessing a body cavity or other site within the body of the patient 106, e.g., such that one or more surgical instruments or tools may be inserted into the body cavity of the patient 106, as further described herein. It should be appreciated that the cannula as described herein may be part of a trocar and may optionally include an obturator or other component.

Once access is complete, initial positioning or preparation of the robotic system 100, including its arm 104, may be performed. The surgical procedure then continues with the remote operator 109 at the user console 102 manipulating the various end effectors and possibly imaging systems with the foot control 113 and UID 114 to perform the surgical procedure. Manual assistance may also be provided at the operating bed or table by bedside personnel (e.g., bedside operator 108) wearing a sterile surgical gown, who may perform tasks on one or more of the robotic arms 104, such as retracting tissue, performing manual repositioning, and tool changing. Non-sterile personnel may also be present to assist the remote operator 109 at the user console 102. When the procedure or surgical procedure is completed, the system 100 and user console 102 may be configured or set to a state to facilitate completion of the post-operative procedure, such as cleaning or sterilization and entry or printing of healthcare records via the user console 102.

In one embodiment, the remote operator 109 holds and moves the UID 114 to provide input commands to move the robotic arm actuator 117 in the robotic system 100. UID 114 may be communicatively coupled to the rest of robotic system 100, for example, via console computer system 116. Representatively, in some embodiments, UID 114 may be a portable handheld user input device or controller that is not grounded with respect to another component of the surgical robotic system. For example, UID 114 may not be grounded when tethered or disconnected from a user console. The term "ungrounded" is intended to refer to implementations in which, for example, both UIDs are neither mechanically nor kinetically constrained relative to a user console. For example, the user may hold UID 114 in the hand and freely move to any possible position and orientation within a space limited only by a tracking mechanism, such as a user console. UID 114 may generate spatial state signals corresponding to movement of UID 114, such as a position and orientation of a handheld housing of the UID, and the spatial state signals may be input signals to control movement of robotic arm actuator 117. The robotic system 100 may use control signals derived from the spatial state signals to control proportional movement of the actuators 117. In one embodiment, a console processor of the console computer system 116 receives the spatial state signal and generates a corresponding control signal. Based on these control signals that control how actuators 117 are energized to move sections of arm 104 or connections, movement of the corresponding surgical tool attached to the arm may simulate movement of UID 114. Similarly, interaction between the remote operator 109 and the UID 114 may generate, for example, a clamping control signal that closes the jaws of the grasper of the surgical tool 107 and clamps tissue of the patient 106.

Surgical robotic system 100 may include several UIDs 114, where respective control signals are generated for each UID that controls an actuator of a respective arm 104 and a surgical tool (end effector). For example, the remote operator 109 may move the first UID114 to control movement of an actuator 117 located in the left robotic arm, where the actuator responds by moving a linkage, gear, etc. in the arm 104. Similarly, movement of the second UID114 by the remote operator 109 controls movement of another actuator 117, which in turn moves other links, gears, etc. of the robotic system 100. The robotic system 100 may include a right arm 104 secured to a bed or table on the right side of the patient, and a left arm 104 located on the left side of the patient. The actuator 117 may include one or more motors controlled to rotate the joints of their drive arms 104 to, for example, change the orientation of an endoscope or grasper of a surgical tool 107 attached to the arm relative to the patient. The movement of several actuators 117 in the same arm 104 may be controlled by spatial state signals generated from a particular UID 114. UID114 may also control movement of the corresponding surgical tool gripper. For example, each UID114 may generate a respective clamp signal to control movement of an actuator (e.g., a linear actuator) that opens or closes a jaw of the grasper at a distal end of the surgical tool 107 to grasp tissue within the patient 106. When the user has completed controlling the surgical tool with UID114, the user may dock (i.e., store) UID114 with a docking station or UID holder located on console 102. For example, the console 102 may include a docking station 130 at each of the left and right arm rest of the seat 110. To dock UIDs 114, a user may move left UID114 to left docking station 130 and right UID114 to right docking station 130, and place each UID in its respective docking station holder.

In some aspects, communication between the platform 105 and the user console 102 may be through a control tower 103 that may convert user commands received from the user console 102 (and more particularly from the console computer system 116) into robotic control commands that are transmitted to the arm 104 on the robotic platform 105. The control tower 103 may also transmit status and feedback from the platform 105 back to the user console 102. The communication connections between the robotic platform 105, the user console 102, and the control tower 103 may use any suitable data communication protocol of a variety of data communication protocols via wired and/or wireless links. Any wired connection may optionally be built into the floor and/or wall or ceiling of the operating room. The robotic system 100 may provide video output to one or more displays, including displays in an operating room and remote displays accessible via the internet or other network. The video output or feed may also be encrypted to ensure privacy, and all or part of the video output may be saved to a server or electronic healthcare recording system. It should be appreciated that the operating room scenario of fig. 1 is exemplary and does not necessarily represent precisely certain medical practices.

Turning to fig. 2, a portion of a robotic arm 200 (e.g., robotic arm 104) is shown in accordance with an aspect of the present disclosure. The robotic arm 200 and associated components described herein may form a surgical robotic system according to embodiments of the present disclosure. The robotic arm 200 may be incorporated into the surgical robotic system 100 described with reference to fig. 1, or may form part of a different system. Although a single robotic arm 200 is shown, it should be understood that robotic arm 200 may include additional arm portions or may be a component of a multi-arm device without departing from the disclosure.

The robotic arm 200 may include a plurality of links (e.g., links 202A-202E) and a plurality of joint modules (e.g., joints 204A-204E) for actuating the plurality of links relative to one another. The joint module may include various joint types, such as pitch joints or roll joints, any of which may be actuated manually or by a robotic arm actuator (e.g., actuator 117), and any of which may substantially constrain movement of adjacent links about certain axes relative to other axes. As also shown, a tool drive 206 is attached to the distal end of the robotic arm 200. As described herein, the tool drive device 206 may be configured with an attachment device or docking interface 212 to receive an attachment portion of a cannula (e.g., an attachment device or cannula boss) and attach the cannula to a robotic arm such that one or more surgical instruments (e.g., an endoscope, stapler, etc.) may be guided through the lumen of the cannula of the trocar. In one variation, the tool drive device 206 may include an elongated base (or "ply") 208 and a tool rack 210 in sliding engagement with the elongated base or ply 208. The ply 208 may be configured to be coupled to the distal end of the robotic arm 200 such that articulation of the robotic arm 200 positions and/or orients the tool drive 206 in place. The tool rack 210 may be configured to receive tools for an associated cannula extending through a trocar. In addition, the tool rack 210 may actuate a set of articulation via a cable system or wire that is manipulated and controlled by an actuation drive (the terms "cable" and "wire" are used interchangeably throughout this application). The tool rack 210 may include differently configured actuation drives, such as mechanical transmissions. The plurality of joint modules 204A-204E of the robotic arm 200 may be actuated to position and orient the tool drive 206 for robotic surgery.

Referring additionally to fig. 3, fig. 3 shows an enlarged perspective view of an attachment device associated with a robotic arm (e.g., docking interface 212 of robotic arm 200). As will be described with reference to fig. 4A-4B, the cannula may be coupled to the tool drive device 206 or another component of the surgical robotic system 100 at an attachment device or docking interface 212 located at a distal block of the elongate base 208. The attachment device or docking interface 212 is configured to receive a portion of a cannula (e.g., a cannula boss). The attachment device or docking interface 212 is interchangeably referred to herein as a cannula or trocar docking interface, attachment device or mounting device. Docking interface 212 may provide a reliable and quick way to attach the cannula to surgical robotic system 100.

The attachment device or docking interface 212 may define a chamber 302 that is accessible through a mouth or front opening 304 of the docking interface 212 and may include a first clamping member 306 and a second clamping member 308 (e.g., arms, plates, levers, members) disposed about a receiver 310 that defines a receiving space 312 for receiving a portion of a trocar or cannula (e.g., cannula lugs located in a proximal portion of the cannula). At least one of the clamp members 306, 308 may be pivoted between an open position and a closed position such that an attachment portion of a cannula (e.g., a cannula boss) may be inserted into the receiving space 312 between the clamp members 306, 308 such that a portion of the cannula is at least partially held in place by the first clamp member 306 and the second clamp member 308.

In one variation, the attachment device or interface 212 may include an eccentric mechanism, such as an actuator, latch or lever 314, or other suitable locking member that mechanically mates with the clamp member 306, for example, through a pin and slot arrangement or through another pivotable or movable connection between an open position and a closed position. The lever 314 may be coupled to or otherwise assist in locking the device in an open or closed position and thus may also be referred to herein as, or be considered part of, a locking assembly or component. The actuator or lever 314 is movable between a forward locked position (e.g., a locked off center position) and a rearward unlocked position. When the actuator or lever 314 is moved toward the locked position, the lever 314 may urge the clamp member 306 downward toward the receiving space 312 and lock the clamp member 306 in the closed position such that a portion of the cannula (e.g., cannula boss) is securely held between the first clamp member 306 and the second clamp member 308. In some variations, the second clamping member 308 may be stationary or may be fixed. In one variation, the actuator or lever 314 may be controlled and/or driven manually or automatically, or a combination of manual and automatic. Typically, in some aspects, the attachment means may comprise a fully mechanical locking assembly that locks the clamp in an open position (e.g., unlocked position) and then automatically transitions to a closed position (e.g., locked position) upon detection of insertion of a cannula into the clamp in place. The specific configuration of the locking member and its operation will be described in more detail with reference to fig. 4A-4B.

In some variations, the attachment device or docking interface 212 may also provide a sterile barrier between sterile components such as a cannula and non-sterile components such as the first clamping component 306 and the second clamping component 308 (or other non-sterile components of the surgical system). The sterility barrier may be provided, for example, by a sterile adapter interposed between the cannula and the first and second clamping members 306, 308 (as described in more detail with reference to fig. 11A-11D).

In some aspects, the attachment device or docking interface 212 may also include a sensor system 316. The sensor system 316 may be used to detect characteristics of a cannula positioned within the docking interface 212, for example, as will be described in more detail with reference to fig. 6-7 and/or 10A-10B. The sensor system 316 may include a motherboard or first sensor board 318 at a first location of the docking interface 212 and a daughter board or second sensor board 320 at a second location of the docking interface 212 and in electrical communication with the first sensor board 318 via a cable 322 or other electrically conductive connection. In one variation, communication between the sensor boards 318, 320 may employ a multi-slave and multi-master integrated communication computer bus. One or both of the sensor boards 318, 320 may include a microprocessor or other associated processor, for example, to control and/or read the sensors of the sensor boards 318, 320 and facilitate communication between the sensor boards 318, 320, for example, to enable time synchronization between the sensor boards 318, 320. As shown, the first sensor plate 318 and the second sensor plate 320 are positioned spaced apart from but parallel to, e.g., facing, each other on opposite lateral sides of the chamber 302 of the docking interface 212. The first sensor plate 318 may include a plurality of first sensors 324 and the second sensor plate 320 may include a plurality of second sensors 326. For example, the sensors 324, 326 may be embedded in or otherwise coupled to the robotic arm 200 or the tool drive 212. Each sensor of the plurality of sensors 324, 326 may be arranged such that at least one sensor 324, 326 is disposed rearwardly relative to the other respective sensor 324, 326, such as at a depth measured from the front opening 304 of the docking interface 212. While the sensors 324, 326 have been described in a grid-like configuration of rows, it should be understood that one or both of the plurality of sensors 324, 326 may have a different arrangement without departing from the disclosure.

As further described herein, the sensors 324, 326 may be operable to sense or measure a magnetic field associated with a cannula inserted therein and generate a respective corresponding electrical signal. In this regard, the sensors 324, 326 may be configured as magnetometers, for example, sensors that receive at least a portion of a magnetic field as an input and generate an output electrical signal corresponding to the strength or other characteristic of the magnetic field, and thus the sensors 324, 326 may be transducers. Either of the sensors 324, 326 may be configured to receive different physical inputs and generate corresponding electrical signals, such as inertial measurement units, accelerometers, and the like. In this regard, the sensors 324, 326 generate output electrical signals that may be electrically communicated to, for example, a processor or controller incorporated into a control tower to provide force or speed commands that direct movement of a robotic arm (e.g., robotic arm 200) via a robotic arm actuator (e.g., actuator 117), as further described herein. It should be appreciated that the processor may be incorporated into additional or alternative portions of the surgical robotic system 100, and that the sensor system 316 may be in electrical communication with one or more different processors. For example, the switch 328 or other control is mounted on or near the docking interface 212, e.g., at a location behind the actuator or lever 314, such that the actuator or lever 314 may be urged into contact with the switch 328, as further described herein. The switch 328 may be in electrical communication with a processor in the control tower to signal the processor to activate or activate one or both of the sensor plates 318, 320 to activate the sensor system 316 to sense or measure a magnetic field and effect guidance of the robotic arm toward the cannula according to an algorithm, as further described herein. In one variation, the sensor system 316 may be activated by the processor prior to or independent of the actuation of the switch 328, and the switch 328 may be used to signal the processor to begin calculations based on signals received from the sensor system 316 to determine an estimated pose of the cannula and then affect guidance of the robotic arm 200 and its coupled tool drive 206. The switch 328 may have one of several different configurations, for example, a mechanical button and mechanical switch combination may be preferred, but another form of tactile interface or touch screen is also possible, which may be activated by a user.

While the sensor boards 318, 320 are generally described as including respective first and second Printed Circuit Boards (PCBs) with respective sensors 324, 326 embedded therein or thereon, it should be understood that the sensor system 316 may be provided in different arrangements, e.g., as discrete components, without departing from the disclosure. Additionally, it should be appreciated that any of the components described herein may communicate via wired and/or wireless links using any suitable data communication protocol of a variety of data communication protocols.

Aspects of the attachment means or docking interface and its operation will now be described in more detail with reference to fig. 4A-4B. Representatively, as can be seen from fig. 4A-4B, the attachment device or docking interface 212 may include a first clamping member 306 and a second clamping member 308 defining an opening 304 (e.g., a receiving space or chamber) for receiving a cannula 404. A latch, actuator or lever 314 is also provided for transitioning the first and second clamp members 306, 308 between an open position (allowing insertion of the cannula 300 between the clamp members 306, 308) and a closed position (locking or clamping the cannula 300 between the clamp members 306, 308). Representatively, the first clamp member 306 can be moved or pivoted about the clamp pivot point 402 by the lever 314 between an open position (such as shown in fig. 4A) and a closed position (such as shown in fig. 4B). In some aspects, the second clamping member 308 may be stationary or stationary. In other variations, the second clamping member 308 may pivot similarly to the first clamping member. The second clamping member 308 may be spaced apart from the first clamping member 306 to form an opening 304 configured to receive a portion of the cannula 404, such as, for example, an attachment portion of the cannula 404 or a cannula boss 406.

The two clamping members 306, 308 may be supported on a support member 420 (such as, for example, a plate, bar, beam, or other suitable surface of a tool driver in a robotic surgical system). The first clamp member 306 can be supported on the support member 420 at a first location via a first pivot point 402 (e.g., pin joint, hinge, etc.), and the second clamp member 308 can be supported on the support member 420 at a second location spaced apart from the first clamp member 306. In some variations, the first clamp member 306 may be attached to a pivot structure that allows the first clamp member 306 to rotate about the pivot point 402, and the pivot structure may be attached to the support member 420. In such variations, the first clamp member 230 may be attached to the pivot structure via fasteners (e.g., bolts, nails, screws, pins, etc.) or adhesives (e.g., epoxy, polyurethane, polyimide, etc.) and/or by other fastening techniques including, for example, crimping, welding, brazing, etc. In other variations, the first clamp member 306 may be integrally formed with a pivot structure (e.g., a living hinge). In some variations, the second clamping member 308 may be directly attached to the support member 420 via fasteners (e.g., bolts, nails, screws, pins, etc.), adhesives (e.g., epoxy, polyurethane, polyimide, etc.), and/or other fastening techniques (e.g., crimping, welding, brazing, etc.). In other variations, the second clamping member 308 may be integrally formed with the support member 420. In some variations, the two clamping members 306, 308 may be formed of plastic, metal, or a composite material. In some variations, the two clamping members 306, 308 may be formed via machining, molding, or other manufacturing techniques. While the illustrated variation generally depicts two opposing clamping members, it should be understood that in other variations, the attachment device may include more than two clamping members.

In some aspects, the two clamping members 306, 308 may be non-sterile and the cannula 404 may be sterile. Thus, a sterile adapter 450 may be provided that separates the non-sterile clamping members 306, 308 from the sterile cannula 404. As shown in fig. 4A-4B, sterile adapter 450 may form a sterile barrier between non-sterile clamping members 306, 308 and sterile cannula 404. Sterile adapter 404 may be a cap having an opening 452 for receiving attachment portion 406 of cannula 404 such that attachment portion 406 is covered or surrounded by sterile adapter 450 when received in sterile adapter 450. Sterile adapter 450 may be flexible enough in some portions such that it may deform (e.g., receive attachment portion 406 when attachment portion 406 is inserted through the opening), but stiff enough in other portions such that it remains in a non-deformed or resting shape that generally corresponds to the shape of attachment portion 406 of cannula 404. A specific configuration of sterile adapter 450 including a flexible portion and a rigid portion will be described in more detail with reference to fig. 11A-11D.

The sterile adapter 450 may be releasably mounted to the base member 420 so that it may be replaced as necessary. For example, the sterile adapter 450 may include an engagement mechanism that latches onto an edge or ridge of the base member 420 (or other support member coupled to the base member 420).

As further shown, the cannula 404 may have a proximal portion 416, such as, for example, a hub, fitting, connector, or the like. The proximal portion 416 of the cannula 404 may include an attachment portion 406. The attachment portion 406 may extend from one side of the proximal portion 416 and be configured for insertion into the opening 304 of the attachment device or docking interface 212. Cannula 404 may also have a shaft 418 (partially depicted in fig. 4A-4B) extending from proximal portion 416. Shaft 418 may have a lumen through which one or more surgical instruments may be inserted. When the cannula 404 is disposed within a patient, the distal end of the shaft may be positioned within the patient, such as, for example, within a body cavity.

To enable the robotic surgical procedure to begin, the surgical robotic arm must be docked to the cannula. Thus, at some point in the workflow, the surgical personnel brings the surgical robotic arm into the sterile field to effect access to the surgical field. During this operation, the robotic arm (on the operating table or cart) is guided manually or autonomously by the operator or surgeon towards the surgical port (incision). The goal is to "dock" the surgical arm to the cannula to establish a rigid connection, and then deploy the surgical tool through the access channel. Due to the delicate nature of the interactions with the surgical incision and the limited space in the operating room, this operation is typically performed by a person on a robot with one hand and on a cannula with one hand. This can be challenging because the ability of the user to grasp the arm is limited by the cannula position and arm geometry. For example, the locking means (e.g., lever or actuator) used to lock the cannula to the arm is not accessible in all configurations, and the geometry of the arm may provide a pinch point. The attachment device or docking interface 212 addresses some of these challenges by providing an improved configuration for attaching (e.g., docking) a cannula to a surgical robotic arm that allows a user to grasp the arm wherever he/she wants and provides audible, tactile, and visual feedback regarding task success.

Representatively, as previously discussed, the attachment device or docking interface 212 may include a full mechanical locking assembly that locks the device (e.g., lever 314 and/or first clamping member 306) in an open position (e.g., unlocked position) and then allows the device 212 to automatically transition to a closed position (e.g., locked position) upon detecting that a cannula is inserted into place in the clamp. For example, the assembly may automatically transition through three states during docking of the cannula to the robotic arm. Representatively, these states may include: 1) unlock the open position, which allows the system to signal to the user that a "docking mode" is in progress, 2) mechanically detect that the cannula is in the correct position for docking, and 3) automatically clamp the cannula and signal to the user that the cannula is attached.

To transition the attachment device 212 through these states, the device may include a lever 314, as previously discussed, which may also be interchangeably referred to herein as a locking member or actuator. The lever or locking member 314 may be movably coupled to the base 420 and the first clamp member 306. For example, the lever or locking member 314 may be coupled to the base 420 and move relative to the base at a pivot point 422. The lever or locking member 314 may also be coupled to the first clamp member 306 by a link 424 that includes pivot points 426, 428 that allow the locking member 314 and the first clamp member 306 to move relative to one another. For example, as shown in fig. 4A, when in an open (e.g., unlocked open position), the lever or locking member 314 pivots about the pivot point 422 to a rearward position (e.g., away from the base 420). Since the locking member 314 is coupled to the first clamp member 306 by the link 424, this movement, in turn, causes the first clamp member 306 to pivot about the pivot point 402 in an upward direction (e.g., away from the opening 304). In this aspect, the locking member 314 and/or the first clamping member 306 are in an open position and the cannula 404 can be inserted into the opening 304.

As previously discussed, the locking member 314 and the first clamping member 306 are held (or locked) in the open position (e.g., unlocked open position) until the cannula 404 is properly inserted into the opening 304. In this aspect, the device may further include an unlocking mechanism 430 to hold or lock the locking member 314 and the first clamping member 306 in the open position (e.g., unlock the open position) until it mechanically detects proper insertion of the cannula. For example, the unlocking mechanism 430 may be a trigger-like mechanism that includes a hook 432 at one end and is pivotally coupled to the base 420 at a pivot point 434 at the other end. The hooks 432 are configured to hook around or otherwise engage with bearings 436 attached to the lever or locking member 314 when the locking member 314 is in the open position to retain the lever or locking member 314 (and the first clamp member 306) in the unlocked open position. The unlocking mechanism 430 may also include a protruding member 438 that, when contacted by a cannula properly inserted and/or aligned within the opening 304, will disengage the unlocking mechanism 430 from the locking component 314. This in turn allows the locking member 314 to automatically transition to the closed position. For example, when the unlocking mechanism 430 is engaged with the lever or locking component 314 (e.g., the hook 432 surrounds the bearing 436), the protruding member 438 may be located between the hook 432 and the pivot point 434 and extend into the opening 304. When cannula boss 406 is inserted within opening 304, cannula boss 406 will contact and push protruding member 436 away from opening 304 as shown in fig. 4B. This in turn causes the unlocking mechanism 430 to pivot in a rearward direction and the hook 432 disengages or otherwise releases the locking member bearing 436. The locking member or lever 314 may be biased toward a closed position (e.g., a forward position) by a spring 440 such that when it is released from the unlocking mechanism 430, it automatically pivots forward (e.g., closer to the base 420) to the closed position and attaches the cannula 404 to the robotic arm.

In some aspects, proper docking position or alignment of cannula 404 (e.g., cannula boss 406) relative to attachment device or interface 212 must occur or otherwise be detected in order for locking member 314 and/or clamping members 306, 308 to automatically transition from the unlocked open position to the closed position. Proper docking or alignment position means that the cannula is in a position within the opening suitable for attachment to the surgical robotic system. An improper or misaligned position means that the cannula is in a position within the opening that is not suitable for attachment to a surgical robotic system. For example, as previously discussed, in order for cannula 404 to be inserted far enough into opening 304 for cannula end 412 to contact unlocking mechanism 430 and disengage it from lever 314, cannula 404 must be in a proper docked or aligned position within opening 304. If cannula 404 is not in the proper docking position or misalignment, unlocking mechanism 430 will not disengage and locking member 314 and/or clamping member 306 will remain in the locked position until the proper alignment or docking position is detected. Thus, when cannula boss 406 contacts or otherwise disengages unlocking mechanism 430 from lever 314, the proper docked or aligned position of the cannula may be mechanically detected by the system (e.g., by attachment device or interface 212). For example, in some aspects, the attachment device or interface 212 may include a particular shape and/or surface feature that only mates with the cannula 404 and allows the cannula 404 to disengage the unlocking mechanism 430 from the lever 314 when the cannula is in the docked position or otherwise properly aligned within the opening 304. In further aspects, cannula 404, and more particularly cannula boss 406, may be considered to have a particular shape and/or surface feature that only mates with attachment device or interface 212 and allows cannula 404 to disengage unlocking mechanism 430 from lever 314 when cannula boss 406 is in a docked position or otherwise properly aligned within opening 304.

Representatively, in some aspects, the second clamping member 308 can have an alignment structure 444 in the shape of an inclined surface. Alignment structure 442 can mate with or otherwise align with a complementarily shaped alignment structure 414 (e.g., an angled surface) on the bottom side of cannula boss 406. The alignment structures 444, 414 will be described in more detail with reference to fig. 10B-10C.

In still other aspects, the first clamping member 306 can include alignment structures 442 that form triangular protrusions. Alignment feature 442 can mate with or otherwise align with a complementarily shaped alignment feature 408 (e.g., recessed region) on the top side of cannula boss 406. For example, the cannula 404 may be moved in the direction of the arrow such that the attachment portion 406 of the cannula 404 is inserted into the area between the two clamping members 306, 308, or more specifically, through the opening 304 located in the area between the two clamping members 306, 308. In some variations, the surface of the first clamp member 306 may be configured to help guide and orient the attachment portion 406 as it is inserted into the area between the two clamp members 306, 308. For example, the surface of the first clamp member 306 may be angled such that when the attachment portion 406 is inserted into the region between the two clamp members 306, 308 in a predetermined orientation shown in fig. 4A (e.g., in an orientation in which the structure 408 faces the structure 442 to allow engagement between the interface surfaces), the surface of the first clamp member receives the attachment portion 406 smoothly. When the attachment portion 406 is inserted into the region between the two clamp members 306, 308 in different orientations, the structure 442 may push against or otherwise interfere with the attachment portion 406 to indicate that the attachment portion 406 is not properly oriented with respect to the two clamp members 306, 308. For example, when the attachment portion 406 is not inserted in a predetermined orientation into the region between the two clamp members 306, 308, the structure 442 may prevent the attachment portion 406 from being inserted into the region between the two clamp members 306, 308 (e.g., by creating a gap that is too small for the attachment portion 06 to be inserted into the region). In some variations, to help guide the attachment portion 406 into the opening 304 between the two clip members 306, 308, the structures 442, 408 may have complementary angles that mate with one another only when the attachment structure 406 is inserted into the opening 304 in a single orientation (e.g., proper docking and/or alignment position).

In some aspects, the alignment structures 408, 414 of the cannula boss 406 may be different such that the boss 406 is considered to have an asymmetric shape that allows it to be installed within the attachment device 212 in only one position. In this aspect, when cannula boss 406 is detected in the proper docked or aligned position within opening 304 (as shown in fig. 4B), device 212 is automatically closed and clamped onto cannula 404. This in turn solves an important surgical workflow problem by providing a fully mechanical and safe solution for docking the cannula to the robotic arm when access to the mechanical lever is difficult or impossible. Additional alignment structures and configurations will be described in more detail with reference to fig. 10A-10C.

In some aspects, upon mechanically detecting that cannula 404 is in the proper docked position and/or that device 212 has transitioned to the closed position, the system may also signal to the user that the cannula is in the docked position and/or that the cannula is attached. For example, one or more of the previously discussed sensors (e.g., sensor system 316 or switch 328) may detect that the device 212 is in the closed position and signal to the user that the cannula is attached. Additionally, the system may signal to the user whether the device 212 is in the docked mode or the clamped mode based on whether the device 212 is in the unlocked open position or the closed position. The signal may be in the form of a message or other indicator on the system display, audio feedback, tactile feedback, or any other suitable notification to indicate to the user the state or mode of the system (or a change in state or mode of the system). Fig. 5 illustrates an exemplary process flow for indicating the status or mode of the device 212 to a user. Representatively, process 500 can include providing a cannula attachment device (e.g., 212) at operation 502, and then determining whether the device is in an open position at operation 504. For example, if, for example, lever 314 or first clamp member 306 is in an open position, it may be determined that device 212 is in an open position. If it is determined that the device is in the open position, the user is notified that the device is in the docked mode at operation 506. In other words, the user may still position the cannula within the device opening and/or the cannula may be in the opening but not properly aligned. If the device is not in the open position, the process continues to determine if the device is in the closed position at operation 506. For example, if, for example, lever 314 or first clamp member 306 is in the closed position, it may be determined that device 212 is in the closed position. If it is determined that the device is in the closed position, the user is notified that the device is in the clamping mode or that the cannula is attached at operation 508. If it is not yet determined at operation 506 that the device is in the closed position, this may mean that the user is still attempting to properly position the cannula in the device, so the process returns to operation 506 and the user is notified that the device is in the docked mode.

In still other aspects, the attachment device or docking interface may include additional aspects that allow for detection of the presence of a cannula, proper latching onto a cannula, angle of a lever, type of cannula attached or docked, and/or any condition that may indicate a cannula release. For example, sensors that drive a finite state machine to detect any one or more of the foregoing scenarios or characteristics may be integrated into the device 212 and/or cannula 404. Each of these states may then be communicated to the user using visual, audio, or other forms of feedback on the robotic arm, as well as any form of similar feedback via the surgeon's bridge. By way of background, it should be appreciated that when interfacing a surgical robotic arm to a cannula, a precise manner is required to sense the cannula is: (1) Suitably docked to the arm, wherein the attachment means is fully closed; (2) Detect which cannula type has been docked and communicate it to the system (e.g., standard/thickened, 8mm/12 mm); and (3) monitoring whether the cannula is somehow released or becomes undocked. In this aspect, fig. 6 shows a schematic diagram of one representative sensor arrangement for detecting any one or more of the aforementioned scenarios or characteristics. Representatively, fig. 6 illustrates at least one sensor 602 for detecting a characteristic of the locking member or lever 314 and at least one sensor 604 for detecting a characteristic of the cannula 404. In one aspect, the sensors 602, 604 may be magnet encoders and the lever 314 and cannula 404 may include magnets 606, 608, respectively, that are detected by the encoders.

The characteristic of the locking member or lever 314 detected by the sensor 602 may be the angle of the locking member or lever 314. For example, any angle within the range of angle (a) may be detected. The angle of the locking member or lever 314 may also be used to determine, for example, whether the lever 314 is open or closed, whether the cannula is properly docked, or other characteristics associated with cannula attachment. For example, if lever 314 is detected at angle 610, the system may determine that lever 314 is in the unlocked open position. On the other hand, if lever 314 is detected at angle 612, the system may determine that lever 314 is in the closed position. The angle may be measured relative to any point suitable for determining the lever position, such as the pivot point 436 or the central axis of the lever 314.

Typically, during operation, when the robotic arm is ready to interface to the cannula, the lever 314 may be manually moved to the open position by the user, and the unlocking mechanism holds the lever 314 in the open position, as previously discussed. The system may use the detection of this movement by the sensor 602 to determine that a gravity compensated active return (GCAB) drive mechanism associated with the surgical robotic arm should be engaged to allow the robotic arm to be positioned at the docking interface or attachment device 212. Once the robotic arm is positioned and the cannula is pushed into the opening of the device 212, the unlocking member disengages, allowing the latch to close and secure the cannula to the arm, as previously discussed. At this point, lever sensor 602 senses that the lever has been closed and has passed through the mechanical off-center point (e.g., at an angle corresponding to position 612). This information in turn can disengage the system from the GCAB and hold the arm in this docked or attached position. The signal from sensor 602 may be actively monitored so that if lever 314 is accidentally depressed after the cannula is attached, the system will transition to an error state where the procedure should be stopped and the user notified.

Referring now to the characteristics of cannula 404 detected by sensor 604, representative characteristics may be, but are not limited to, (1) the presence of cannula 404 within the opening of device 212 and (2) the type of cannula. For example, when cannula 404 is inserted into the opening such that sensor 604 detects magnet 608, the presence of cannula 404 may be determined. When the sensor 604 does not detect the magnet 608, it may be determined that the cannula 404 is not present. The presence (or absence) of cannula 404 may also be used to determine, for example, whether the cannula is properly docked and/or released. For example, if cannula sensor 604 detects the presence of a cannula and determines that the lever is in the closed position based on information from lever sensor 602, the system may determine that the cannula is properly attached to the device (and robotic arm). On the other hand, if the cannula sensor 604 does not detect the presence of a cannula and determines that the lever is in the open position based on information from the lever sensor 602, the system may determine that the cannula has been released or not properly attached to the device (and robotic arm).

The cannula type may be detected based on the angle of the magnet 608 detected by the sensor 604. In addition, sensing the magnetic orientation provides additional data points where the cannula is present and stable within device 212, but is primarily used to provide specific identification of the type of cannula that has been docked so that information can be communicated to the robotic system and user. For example, each type of cannula 404 may have magnets positioned at different angles, as shown by magnets 608A, 608B, 608C. For example, the angle may be the angle of the polar axis centerline of the magnet relative to the orientation of the north pole of the magnet. Thus, when sensor 604 detects a tilting magnet 608A, 608B, or 608C, the system may match the detected tilting magnet with the particular type of cannula with which it is associated and inform the user of the cannula type. Representative magnetic field orientations that can be detected by the sensor, and their respective cannula types that can be determined by the system, are shown in table 1 as follows:

Type of cannula	Magnetic fieldOrientation of
		Standard, 8mm	30 degrees.+ -. 14.5 degrees
Thickening to 8mm	90 degrees + -14.5 degrees
		Standard, 12mm	150 degrees.+ -. 14.5 degrees
Thickening to 12mm	210 degrees + -14.5 degrees

By using the sensor 604 to monitor the cannula type, there is an opportunity to detect a false or incompatible cannula and to sense latch problems that may allow excessive movement of the cannula within the latch mechanism.

In addition, sensor 604 provides an additional signal indicating that a particular magnetic threshold has been reached, which in turn can be used to confirm the presence of cannula 404 in device 212. While this is also achieved by having a valid cannula type or identification reading as previously described, this signal is a more deterministic binary value and may be the primary signal for cannula presence. The loss of this signal at any point in time may indicate the release of the cannula and may cause the system to transition to an error state that will stop the procedure and notify the user.

As previously discussed with reference to fig. 3, the sensors 602, 604 may be electrically connected to the sensor board 320 positioned within the device opening 304, or may be positioned at any location of the device 212 suitable for detecting a desired characteristic. The sensor board 320 can include a microprocessor or other associated processor 614, for example, to control and/or read the sensors 602, 604 of the sensor board 320 to facilitate transfer of information from the sensors 602, 604 to a user, and to determine one or more of the previously discussed characteristics based on the sensor information. In addition, although sensor 604 is described as a single sensor outputting two separate signals indicative of the presence and type of cannula, a different sensor for separately detecting each of these characteristics may be used. Furthermore, while only two sensors 602, 604 are shown, it is contemplated that at least four or more sensors may be used to provide redundancy for safety reasons.

Referring now in more detail to the operation of the system based on information detected by the previously discussed sensors, one representative process is shown in FIG. 7. In one aspect, process 700 includes an initial state or mode in which the system is deemed ready for cannula docking at operation 702. For example, the system may be considered ready for cannula docking when the system (e.g., sensor) detects that the attachment device or interface device 212 is in an unlocked open position such that it is ready for cannula insertion (e.g., lever 314 is engaged with unlocking mechanism 430 and lever 314 and/or first clamp 306 is in an open position) and/or determines that no cannula is present. Once it is determined at operation 702 that the system is ready for cannula docking, at operation 704, one or more associated processors may disengage the surgical robotic system from a brake assembly associated with the surgical robotic arm and engage a gravity compensated active return ("GCAB") drive mechanism associated with the surgical robotic arm to allow positioning of the cannula within a clamp assembly associated with the surgical robotic arm. Additionally, once the GCAB is engaged, if the system (e.g., sensor assembly) detects a transition of the clamp assembly (e.g., lever 314 of attachment device 212 or clamp 306) to the closed position and/or the cannula is not present within the clamp assembly, the process returns to operation 702. For example, the one or more processors may cause the surgical robotic system to engage a brake assembly associated with the surgical robotic arm and disengage a GCAB drive mechanism associated with the surgical robotic arm, thereby maintaining a current position of the cannula relative to the clamp assembly. Alternatively, once the GCAB is engaged, if the system (e.g., sensor assembly) detects a transition of the clamp assembly to the closed position and the cannula is present, the system determines that the cannula has been inserted into the clamp assembly and the one or more processors may cause the surgical robotic system to notify the user that the cannula is inserted at operation 706. Additionally, once the cannula is detected and the system recognizes that it is inserted at operation 706, the system may further determine the type of cannula that was inserted and notify the user of the cannula type. For example, a sensor assembly associated with the attachment device may determine the cannula type based on the magnet orientation as previously discussed. Once it is determined at operation 706 that the cannula is properly inserted, the system may notify the user at operation 708 that the cannula is docked or otherwise attached to the attachment or clamping assembly of the surgical robotic arm. Additionally, if once it is determined at operation 706 that the cannula is inserted, but then the system senses that the clamp assembly is open, that the cannula presence is not detected, or that the cannula Identifier (ID) is not detected, the system may engage the brake assembly and return to operation 702. Additionally, the system may inform the user that the latch is now open and/or that the cannula is not detected, so that an error may have occurred and the procedure has stopped. In other words, the system may inform the user that the system is ready to attach a cannula. In this aspect, a sensor assembly integrated into the attachment device (or clamping assembly) is used to drive a finite state machine to detect the presence of a cannula, to latch onto a cannula appropriately, the type of cannula that has been docked, and any condition that may indicate the release of the cannula. Each of these states may then be communicated to the user using visual, audio, or other forms of feedback on the robotic arm, as well as any form of similar feedback via the surgeon's bridge.

Turning now to additional aspects of the attachment device, fig. 8A-8B illustrate an eccentric configuration of the attachment device. Fig. 8A-8B illustrate the same attachment device or interface 212 described with reference to fig. 4A-4B, however, the eccentric configuration is now shown in more detail. The off-center configuration ensures a reliable and secure attachment of the cannula to the surgical robotic arm while also allowing the user to disconnect and reconnect the two items when needed. For example, an eccentric configuration may prevent the attachment or clamping mechanism (e.g., a lever) from being driven back to the open position by a force applied to the cannula. Once eccentric, the lever will gradually force itself closed with any added load applied to the cannula. This helps to ensure that the cannula is firmly and reliably held on the robotic arm during surgery. Representatively, fig. 8A illustrates the attachment device or interface 212 in an unlocked open position as previously discussed with reference to fig. 4A. In this open position, the attachment device or interface 212 is not considered to be in an off-center configuration. Fig. 8B shows the attachment device or interface 212 in a closed position as previously discussed with reference to fig. 4B. For example, in the closed position, the actuator or lever is straight forward against the base. For example, an actuator or lever pushes the first clamping member forward, which then clamps the cannula boss against the second clamping member and holds it securely in the attachment device or interface 212. In this closed position, the attachment device or interface 212 is considered to be in an off-center configuration because the associated four-bar linkage is designed to be off-center.

Typically, as previously discussed, the attachment device or interface 212 includes a locking member, actuator or lever 314 that is movably connected to the base 420 at a pivot point 422 near one end, which allows the other end of the lever 314 to move between an open position (rearward position) and a closed position (forward position). In one aspect, the end 314A of the lever 314 moves between the open/closed positions and is manually controllable by a user. The pivot point 422 may be proximate to the other end 314B of the lever 314, which may be coupled to an unlocking mechanism when the device is in the open locked position. In addition, the first clamp member 306 is movably connected to the base 420 at a pivot point 402 at one end 306A, which allows the other end 306B of the first clamp member 306 to move between an open (non-clamped) position and a closed (clamped) position. The lever 314 and the first clamping member 306 are also movably coupled to one another by a link 424. The link 424 is connected to the lever 314 at a pivot point 428 at one end and to the first clamp member 306 at a pivot point 426. In other words, the linkage of the device 212 may include at least four pivot points 402, 422, 426, and 428 that form a four-bar linkage. The linkage pivot points may thus also be referred to herein as a first pivot point 426, a second pivot point 428, a third pivot point 402, and a fourth pivot point 422. During operation, at the beginning of a closing stroke (e.g., lever 314 moves in a forward direction toward base 420 as indicated by the arrow), pivot point 426 (e.g., a first pivot point) leads pivot point 428 (e.g., a second pivot point) through rotation of the mechanism. When the mechanism approaches its fully closed position, the pivot point 428 (e.g., the second pivot point) exceeds the pivot point 426 (e.g., the first pivot point), as shown in fig. 8B, at which point the attachment device 212 (e.g., the lever 314) is considered eccentric. For example, in some aspects, the attachment device 212 may be considered fully closed (or latched) when the pivot point 428 (e.g., the second pivot point) is eccentric at an eccentric angle (OCA) of one degree or less, or at least one degree, relative to the pivot point 426 (e.g., the first pivot point). This particular eccentricity angle (OCA) is critical to ensure that the device is eccentric in nature, but does not reach an eccentricity angle that is so extreme that the clamping force on the cannula boss begins to decrease. As a result of this eccentric configuration, the attachment device will gradually force itself closed (e.g., first clamping member 306) as a result of any increased load applied to the cannula, as previously discussed.

The unlocking mechanism for holding the attachment device in the unlocking open position will now be described in more detail with reference to fig. 9A-9D. Representatively, fig. 9A-9B illustrate enlarged cross-sectional side views of the unlocking mechanism, and fig. 9C-9D illustrate enlarged cross-sectional side views of the adjustment mechanism of the unlocking mechanism of fig. 9C-9D. The unlocking mechanism of fig. 9A-9D may be substantially identical to the unlocking mechanism 430 described with reference to fig. 4A-4B, and thus include the same features as the unlocking mechanism described with reference to fig. 4A-4B. However, certain features of the unlocking mechanism may be omitted from fig. 9A-9D for clarity.

Referring now in more detail to fig. 9A, the unlocking mechanism 430 may be a trigger-type locking mechanism that includes a hook 432 at one end and another end pivotally coupled to the attachment base at a pivot point 434. The hooks 432 are configured to hook around or otherwise engage with bearings 436 of the lever 314 to retain the lever 314 (and associated clamping members) in the unlocked open position. Unlocking mechanism 430 further includes a protruding member 438 between hook 432 and pivot point 434, and a spring 902 at pivot point 434. Spring 902 may bias unlocking mechanism 430 toward an unlocked open position (e.g., a position where hook 432 is hooked around bearing 436). The protruding member 438 may face the attachment device opening and be pressed by the cannula during insertion, causing the unlocking mechanism 430 to pivot at the pivot point 434 as indicated by the arrow, and the hook 432 unhook or otherwise disengage the bearing 436 of the lever 314. This in turn allows the attachment device to automatically transition to the closed position as it is biased towards the closed position (e.g., the first clamping member clamps onto the cannula), as previously discussed.

The unlocking mechanism 430 can be actuated several tens of thousands of times in this manner. Accordingly, the various components of the unlocking mechanism 430 are selected or configured to withstand such use without wearing or becoming unreliable. Typically, to prevent the interface between the hook 432 of the unlocking mechanism 430 and the bearing 436 of the lever 314 from wearing out over time, the bearing 436 may be a ball bearing capable of rolling along the surface of the hook 432 instead of sliding. For example, if the hooks 432 were to hook around a fixed structure rather than around the ball bearings 436, the two structures would slide along each other until they were disengaged and the trigger released. This sliding action can wear these interface surfaces over time. Accordingly, the unlocking mechanism 430 includes a ball bearing 436 that rotates with any triggering action and movement of the hook 432 to ensure that there are no static metal surfaces that rub and wear against each other.

In addition, hook 432 may be configured to reduce wear and improve reliability. For example, the geometry of hook 432 is selected to engage and disengage bearing 436 as needed with minimal wear at the interface. Representatively, referring now to fig. 9B, fig. 9B is an enlarged view of the hook/bearing interface section shown in phantom in fig. 9A. As can be seen from fig. 9B, when the unlocking mechanism 430 is engaged and waiting to be triggered, the tip 904 of the hook 432 is above (or beyond) the tangent point 906 of the bearing 436. This condition positions hook 432 such that bearing 436 is fully embedded within hook 432. When the unlocking mechanism 430 begins to be triggered and moves along its rotational path 912, the hook tip 904 moves in the disengagement direction 908 and approaches the tangent point 906 of the bearing 436. Once the hook tip 904 reaches this tangent point 906, the bearing 436 will rotate rapidly, causing the unlocking mechanism 430, which is biased by the spring 902 to disengage the bearing 436, to release the bearing 436. Once released, the bearing 436 moves along the rotational path 914 (as a result of the lever 314 rotating about the pivot point 422) such that the lever 314 (and the first clamp member) may automatically transition to the closed position. When the hook tip 904 is moved in the engagement direction 910 and passes the tangent point 906 (e.g., extends beyond the tangent point 906), the unlocking mechanism 430 reengages the lever 314. Thus, the geometry of hook 432 may be selected such that it conforms to the outer surface of bearing 436 (e.g., curved) and has a depth (D) as measured from tip 904 to the bottom of hook 916, which allows tip 904 to extend beyond bearing tangent point 906 when the bearing is fully seated within hook 432. Additionally, as previously discussed, throughout the process, hook 432 is biased into the engaged position by spring 902 to ensure that the trigger is not released until deliberately triggered. Accordingly, the weight of spring 902 may also be selected to provide firm engagement without significantly affecting the force required to release unlocking mechanism 430.

In still other aspects, the unlocking mechanism 430 may provide audible and/or tactile feedback when it is engaged/disengaged. For example, when the bearing 436 is released from the hook 432, the rolling action allows the bearing to smoothly break free of the hook and produces audible and/or tactile feedback informing the user that the mechanism has been released. In addition, when the unlocking mechanism 430 is reengaged, the bearing 436 may act in the same manner as it was when released, and the rolling action of the bearing allows the hook to smoothly snap back to the position providing feedback.

Additionally, in some aspects, the force required to trigger the unlocking mechanism may be adjustable. As previously discussed, the unlocking mechanism has many usability advantages within the docking workflow. The force required to trigger the unlocking mechanism and complete the docking is critical to the workflow. Too much force requirements make it difficult for the operator to complete the docking procedure, while too little force requirements may result in inadvertent triggering of the unlocking mechanism and premature closure of the latch prior to docking being completed. Being able to adjust this force during assembly allows to adjust it to the exact level desired from the usability point of view.

Representative force adjustment mechanisms are shown in fig. 9C-9D. In some aspects, the force adjustment mechanism 920 may be a mechanism or structure that biases the unlocking mechanism 430 toward disengagement when tightened. For example, in some aspects, the force adjustment mechanism 920 may be a set screw. As shown in fig. 9C, when tightened in the direction of arrow 922, the set screw may extend through the unlocking mechanism 430 and into the interface between the hook/bearing interfaces. Typically, when the lock adjustment set screw is tightened, it presses against the unlock bearing 436 and displaces the hook 432 such that it engages less with the unlock bearing 436 than before it was tightened. In other words, the distance (D1) between the bottom 916 of the hook 432 and the bearing 436 increases. This shortens the distance that hook 432 must travel to become disengaged and in turn reduces the force required to disengage unlocking mechanism 430. The opposite can be accomplished by loosening the set screw in the direction of arrow 924, as shown in fig. 9D. In particular, as shown in fig. 9D, when the screw is loosened, the distance (D2) between the hook 432 and the bearing 436 decreases, resulting in more engagement between the hook 432 and the bearing 436. This results in an increase in the force required to disengage the unlocking mechanism 430. The position of the adjustment mechanism 430 may be set after assembly of the attachment device and the actuation force may be confirmed prior to assembly of the mechanism into the robotic arm.

In addition, as previously discussed, the interface between the clamping member and the cannula may also play an important role in ensuring a secure attachment between the cannula and the attachment device (and associated surgical robotic arm). Specific aspects of some representative clip/cannula alignment or interface structures will now be described in more detail with reference to fig. 10A-10C. Although not shown, it should be understood that although not shown and/or certain parts are omitted, the attachment devices or interfaces described with reference to fig. 10A-10C may be substantially identical to the attachment devices or interfaces 212 previously discussed with reference to fig. 4A-4B.

Fig. 10A illustrates a cross-sectional side view of one aspect of an interface or alignment structure of a cannula lug. Representatively, as previously discussed with reference to fig. 4A-4B, the top side of cannula boss 406 may include alignment structures 408. From this view, it can be seen that the alignment structure 408 has an inverted taper formed by the inclined surfaces 1002, 1004. The sloped surfaces 1002, 1004 form triangular recessed areas in the top side of the cannula boss 406. The first clamp member 306, in turn, may include a complementary cannula mating structure 442 that interfaces with the structure 408 when the clamp is in the closed position. For example, the mating structure 442 may be a triangular end that is angled to pull the cannula boss 406 into the attachment device. For example, the inverted taper formed by the angular combination of structure 408 and gripping structure 442 is designed to pull cannula boss 406 into the latch in the direction of arrow 1006 when first gripping member 306 is closed to ensure that the cannula is fully seated within the attachment device. The angle of the interface of the structures 408, 442 also keeps the cannula 404 securely seated in the attachment device (and against the second clamping member 308) when external forces acting on the cannula 404 may attempt to pull it up out of the attachment device.

Fig. 10B-10C illustrate perspective views of another aspect of an interface or alignment structure of a cannula boss. Representatively, as previously discussed with reference to fig. 4A-4B, the bottom side of cannula boss 406 may include alignment structure 414 that interfaces with alignment structure 444 of second clamping member 308. As can be seen from this view, the alignment structure 414 may include a keel-like protrusion 1008 formed in the underside of the cannula boss 406. The keel 1008 may be formed from a bottom wall 1008A and side walls 1008B. It should be appreciated that the second sidewall 1008B is hidden from view due to the perspective view. The bottom wall 1008A may taper inwardly toward the cannula body 416 such that a width (W1) proximate the end 414 is wider than a width (W2) proximate the body 416. Additionally, the side wall 1008B may taper inwardly toward the end 412 such that the structure 414 is sloped as shown in fig. 10A. The interface or complementary alignment structure 444 on the top side of the second clamping member 308, in turn, may include a recessed region 1010 having a configuration complementary to the protrusion 1008 such that the protrusion 1008 may be inserted into the recessed region 1010. Representatively, recessed region 1010 may be formed by a bottom wall 1010A tapering inwardly from end 1012 to end 1014 and a side wall 1010B tapering inwardly toward end 1012, thereby being complementary to structure 414. This complementary configuration of structures 414, 444 helps guide insertion of cannula 404 into attachment device 212 and provides rotational stability. In addition, this configuration helps prevent cannula boss 406 from deflecting or twisting within attachment device 212 when cannula 404 is laterally loaded.

Turning now to the sterile adapter briefly discussed previously with reference to fig. 4A-4B, specific details of the sterile adapter will now be described with reference to fig. 11A-11D. Fig. 11A-11B representatively illustrate a bottom perspective view and a top perspective view, respectively, of a sterile adapter. Fig. 11C-11D illustrate cross-sectional side views of the sterile adapter shown in fig. 11A-11B, which serves as a barrier between the cannula and the attachment device. As previously discussed, a sterile adapter is necessary to maintain a sterile barrier between the robotic arm and the surgical field. The cannula must be rigidly secured by a sterile barrier, however, a completely rigid or completely flexible barrier may make it challenging to securely clamp the attachment device to the cannula. To address these challenges, the sterile adapter 450 is configured with a hard plastic region molded with a flexible elastomeric region to form a molded sterile barrier that is both rigid and flexible. The hard plastic/flexible elastomer sterile barrier 450 may be formed by, for example, over-molding a rigid plastic piece to form a rigid portion and then over-molding a soft flexible elastomer such as Thermoplastic Polyurethane (TPU) between the plastic sheets. In this aspect, any rigid plastic piece that is not directly molded together as a single rigid piece is connected to the single rigid piece by a flexible elastomer, resulting in an integrally formed sterile barrier having a non-isolatable rigid portion and a flexible portion. Representatively, sterile adapter 450 may include a rigid barrier portion 1102 molded onto flexible barrier portion 1104, both in combination surrounding cannula lugs and providing a sterile barrier between attachment device 212 on one side and cannula 404 on the other side. The rigid barrier portion 1102 may include a cannula interface portion 1106 defining an opening 452 through which a cannula lug is inserted. The cannula interface portion 1106 can be a substantially planar or plate-like member that includes a side that faces the cannula (e.g., cannula side 1108) and an opposite side (e.g., arm side 1110) that faces the attachment device and/or surgical robotic arm when it is inserted into an attachment device opening (e.g., opening 314 of device 212 as shown in fig. 4A-4B). The rigid barrier portion 1102 may also include an alignment interface portion 1112 and an external alignment portion 1013 extending from opposite sides of the cannula interface portion 1106. For example, the external alignment portion 1013 can be a lip extending from the cannula side 1108 of the cannula interface portion 1106, and the alignment interface portion 1112 can extend from the arm side 1110 of the rigid portion 1102 and into a device opening (e.g., opening 314 of device 212). The alignment interface portion 1112 may include mating features or alignment structures 1114 sized to mate with the alignment structures of the cannula boss and the second clamping member. Representatively, alignment structure 1114 may be configured to be positioned between and mate with alignment structures 414 and 444 of cannula boss 406 and second clamping member 308, as previously discussed with reference to fig. 4A-4B and 10B-10C. In this aspect, alignment structure 1114 may be located on or form the bottom side of sterile adapter 450 such that it may mate with structures 414, 444. The alignment structure 1114 may be as rigid and accurate as possible so that minimal compression occurs and no clamping force on the cannula boss is lost. For example, similar to alignment structure 444, alignment structure 1114 may be formed by tapered bottom wall 1114A and tapered side wall 1114B such that it may receive alignment structure 414.

In addition, as seen from the top perspective view of fig. 10B, the opposite side (or top side) of the sterile adapter 450 includes another rigid alignment structure 1116 that interfaces with the clamping member during the clamping operation. Representatively, the topside rigid alignment structure 1116 may be configured to align with or otherwise interface with the alignment structure 442 of the first clamping member 306 and the alignment structure 408 of the cannula boss 406 (see fig. 4A-4B and 10A) during a clamping operation. The topside alignment structure 1116 thus may have any size, shape that allows it to interface with the structures 408, 442. For example, topside alignment structure 1116 may have a similar size and shape as structure 408 or structure 442, such as an elongated shape, a polygonal shape, or any suitable shape. The topside alignment structure 1116 is made of the same material as the rest of the rigid portion 1102 and is designed to have as little compression as possible, as this is the surface that the clip contacts when gripping against the cannula boss, and any compression will result in a reduction in the gripping and holding forces. However, the topside alignment structure 1116 is completely surrounded by the flexible barrier portion 1104 to allow the topside alignment structure 1116 to be rotated as easily as possible to the angle of the clip/lug interface region (e.g., the angle between the alignment structure 442 of the clip 306 and the structure 408 of the lug 406). 11C-11D illustrate the modifiable angle of the topside alignment structure 1116 in more detail. In particular, in fig. 11C, it can be seen that when the attachment device 212 and the first clamp member 306 are in the open configuration, the topside alignment structure 1116 can be substantially aligned with and form a substantially planar surface with the remainder of the top side of the sterile adapter formed by the surrounding flexible barrier portion 1104. However, when the first clamp member 306 is moved to the closed configuration as shown in fig. 11D, the first clamp member 306 presses against the topside alignment structure 1116. This in turn presses the topside alignment structure 1116 against the surface 1002 of the alignment structure 408 of the cannula boss 406. In other words, the top side alignment structure 1116 rotates downward and is angled relative to the remainder of the top side such that it matches the angle of the surface 1002 forming the alignment structure 408 of the cannula boss 406. This may occur because the topside alignment structure 1116 is completely surrounded by the flexible barrier portion 1104. For example, the flexible barrier portion 1104 may act as a hinge that allows the topside alignment structure 1116 to change position. The rigid/flexible nature of this portion of the sterile adapter 450 is important because the shape of the sterile adapter is designed to make insertion and removal of the cannula as easy as possible, while the flexible design ensures that the important mating surfaces of the sterile adapter can conform to the necessary shape for secure attachment (e.g., clamping) with as little force and as reliably as possible.

Returning now to the flexible barrier portion 1104, as previously discussed, the flexible barrier portion is molded to the rigid portion 1102 and is configured to enclose the remainder of the cannula boss. In this aspect, the flexible barrier portion 1104 may be molded to and extend from the arm side 1110 of the rigid cannula interface portion 1106 and around the opening 452. In this aspect, the flexible barrier portion 1104 may form a cavity 1120 around the opening 452 of the rigid interface portion 1106, the cavity sized to receive the cannula boss. The cavity 1120 may have a bottom side defined by the rigid alignment portion 1114, a portion of a top side defined by the rigid alignment portion 1116, and the remainder of the cavity substantially defined by the flexible barrier portion 1104.

Additional aspects of the sterile adapter 450 may include a rigid retention tab 1130 molded to the arm side 1110 of the rigid interface portion 1106 and positioned along the top side of the flexible barrier portion 1104. The retention tabs 1130 may, for example, mate with complementary mating structures near the opening of the attachment device 212 to help retain the sterile adapter seated in the attachment device 212 during cannula insertion and removal. In addition, sterile adapter 450 may include one or more rigid mating fiducials 1132 molded to the arm side of rigid cannula interface portion 1106 and positioned along one side of flexible barrier portion 1104. For example, at least one fiducial 1132 may be along a different side and/or top and bottom sides of the adapter than the bumps 1130, such as positioned to a third side connecting the top and bottom sides. The rigid mating reference 1132 may be configured in a particular orientation designed to maintain proper alignment of the cannula with the tool axis.

FIG. 12 is a block diagram of a computer portion of a surgical robotic system operable to perform the foregoing operations, according to one embodiment. The example surgical robotic system 1200 may include a user console 102, a surgical robot 120, and a control tower 103. The surgical robotic system 1200 may include other or additional hardware components; accordingly, the diagram is provided by way of example, and not limitation of the system architecture.

As described above, user console 102 may include a console computer 1211, one or more UIDs 1212, a console actuator 1213, a display 1214, a foot switch 1216, a console computer 1211, and a network interface 1218. In addition, user console 102 may include a number of components, such as a UID tracker 1215, a display tracker 1217, and a console tracker 1219, for detecting various surgical conditions required for system operation (e.g., UID orientation, surgeon's orientation relative to the display, orientation of the console seat, etc.). It should also be appreciated that a user or surgeon sitting at the user console 102 may manually adjust the ergonomic settings of the user console 102 or may automatically adjust the settings according to user profiles or user preferences. Manual and automatic adjustment may be achieved by driving console actuators 1213 based on user input or a configuration stored by console computer 1211. A user may perform a robot-assisted surgery by controlling surgical robot 120 using one or more master UIDs 1212 and foot switches 1216. The position and orientation of UID 1212 is continuously tracked by UID tracker 1215, and the state changes are recorded as user input by console computer 1211 and scheduled to control tower 103 via network interface 1218. Real-time surgical video of patient anatomy, instruments, and related software applications may be presented to the user on a high resolution 3D display 1214, including an open display or an immersive display.

The user console 102 is communicatively coupled to a control tower 103. The user console also provides additional functionality for improved ergonomics. For example, the user console may be an open architecture system including an open display, but in some cases an immersive display may be provided. In addition, a height adjustable surgeon chair is included at the user console 102, along with a master UID tracked by an electromagnetic or optical tracker, for improved ergonomics.

The control tower 103 may be a mobile point-of-care cart housing a touch screen display, a computer to control the surgeon to maneuver the instrument through robotic assistance, a safety system, a Graphical User Interface (GUI), a light source, and a video and graphic computer. As shown in fig. 12, the control tower 103 may include a central computer 1231 (including at least a visualization computer), control and auxiliary computers, various displays 1233 (including team and nurse displays), and a network interface 1218 that couples the control tower 103 to both the user console 102 and the surgical robot 120. The control tower 103 may provide additional features to enable user convenience such as a nurse display touch screen, soft power and E-hold buttons, user-oriented USB for video and still images, and electronic caster control interfaces. The secondary computer may also run real-time Linux, providing logging/monitoring and interaction with cloud-based web services.

Surgical robot 120 may include an operating table 1224 having a plurality of integrated robotic arms 1222 that may be positioned above a target patient anatomy. A set of compatible tools 1223 may be attached/detached from the distal end of the arm 1222 so that a surgeon can perform a variety of surgical procedures. Surgical robot 120 may also include a control interface 1225 for manual or automatic control of arm 1222, stage 1224, and tool 1223. The control interface may include items such as, but not limited to, remote controls, buttons, panels, and touch screens. Other accessories such as trocars (cannulas, sealed cartridges, and tampons) and drapes may also be required to perform surgery using the system. In some variations, the plurality of arms 1222 includes four arms mounted on two sides of the operating table 1224 with two arms on each side. For a particular surgical procedure, the arms mounted on one side of the table may be positioned on the other side of the table by stretching and crossing under the table and the arms mounted on the other side, such that a total of three arms are positioned on the same side of the table 1224. The surgical tool may also include a station computer 1221 and a network interface 1218 that may place the surgical robot 120 in communication with the control tower 103.

The foregoing description, for purposes of explanation, used specific nomenclature to provide a thorough understanding of the invention. However, it will be apparent to one skilled in the art that the specific details are not required in order to practice the invention. The foregoing description of specific aspects of the invention has been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise forms disclosed; many modifications and variations of the present disclosure are possible in light of the above teachings. The embodiments were chosen and described in order to best explain the principles of the invention and its practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated.

Claims (71)

1. An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising:

a first clamp member configured to transition between an open position and a closed position;

a second clamp member spaced apart from the first clamp member, the first and second clamp members defining a region configured to receive a portion of the cannula and configured to retain the portion of the cannula in the region when the first clamp member is in the closed position; and

A locking member configured to lock the first clamp member in the open position and allow the first clamp member to automatically transition to the closed position based on a position of the portion of the cannula within the region.

2. The apparatus of claim 1, wherein the locking member locks the first member in the open position when the position of the portion of the cannula is misaligned within the region.

3. The apparatus of claim 1, wherein the first clamp member automatically transitions from the open position to the closed position when the position of the portion of the cannula is aligned within the region.

4. The apparatus of claim 1, wherein when the cannula is aligned within the region, the cannula contacts a portion of the locking member and disengages the locking member from the first clamping member, allowing the first clamping member to transition from the open position to the closed position.

5. The apparatus of claim 1, wherein the locking component mechanically detects whether the portion of the cannula is in an aligned position or a misaligned position within the region.

6. The apparatus of claim 1, further comprising one or more processors configured to signal the robotic surgical system user to be in the process of attaching the cannula to the robotic surgical system when the first clamping member is in the open position and the portion of the cannula is within the region.

7. A system for attaching a cannula to a robotic surgical system, the system comprising:

a clamping assembly having an open position configured to receive a cannula and a closed position configured to attach the cannula to a robotic arm of the robotic surgical system;

a locking assembly coupled to the clamp assembly, the locking assembly configured to lock the clamp assembly in the open position and allow the clamp assembly to automatically transition to the closed position based on a position of the cannula within the clamp assembly; and

one or more processors configured to signal the robotic surgical system that the clamping assembly is in a docked mode when the clamping assembly is locked in the open position or to signal the robotic surgical system that the clamping assembly is in a clamped mode when the clamping assembly is locked in the closed position.

8. The system of claim 7, wherein in the docked mode, the clamp assembly remains locked in the open position until the detected position of the cannula is a position suitable for attachment to the surgical robotic system.

9. The system of claim 7, wherein in the clamping mode, the surgical robotic system notifies a user that the cannula is attached to the robotic surgical system.

10. The system of claim 7, wherein the locking assembly locks the clamp assembly in the open position when the detected position of the cannula is misaligned.

11. The system of claim 7, wherein the locking assembly is further configured to transition the clamping assembly from the open position to the closed position when the detected position of the cannula is aligned.

12. The system of claim 7, wherein the locking assembly comprises a lever coupled to an unlocking mechanism that locks or unlocks the clamp assembly based on the position of the cannula.

13. A system for detecting attachment of a cannula to a robotic surgical system, the system comprising:

A clamping assembly having an open position configured to receive a cannula and a closed position configured to attach the cannula to a robotic arm of the robotic surgical system;

a sensor assembly operable to sense a characteristic of the clamp assembly; and

one or more processors configured to determine a state of the clamp assembly based on the characteristics sensed by one or more sensors and provide feedback to a user regarding the state of the clamp assembly.

14. The system of claim 13, wherein the clamp assembly comprises a lever operable to transition the clamp assembly between the open position and the closed position, and the sensor assembly comprises a position sensor coupled to the lever.

15. The system of claim 14, wherein the characteristic sensed by the position sensor is an angle of the lever.

16. The system of claim 15, wherein the state of the clamped assembly determined by the one or more processors is the open position or the closed position and is determined based on the angle of the lever.

17. The system of claim 13, further comprising a visual feedback mechanism or an audio feedback mechanism that indicates to the user that the status of the clamping assembly is: (1) The cannula is present within the clamp assembly, or (2) the cannula is released from the clamp assembly.

18. A system for detecting attachment of a cannula to a robotic surgical system, the system comprising:

a clamping assembly having an open position configured to receive a cannula and a closed position configured to attach the cannula to a robotic arm of the robotic surgical system;

a sensor assembly operable to sense a characteristic of the cannula when received by the clamp assembly; and

one or more processors configured to determine a status of the cannula based on the characteristics sensed by one or more sensors and provide feedback to a user regarding the status of the cannula.

19. The system of claim 18, wherein the position sensor is a magnetic encoder and the cannula includes a magnet sensed by the magnetic encoder to sense the characteristic of the cannula.

20. The system of claim 19, wherein the characteristic of the cannula includes the cannula being present within a receiving portion of the clamp assembly.

21. The system of claim 19, wherein the status of the cannula determined based on the characteristic is that the cannula is properly attached to the robotic arm or that the cannula is released from attachment to the robotic arm.

22. The system of claim 19, wherein the characteristic of the cannula comprises a cannula type within the receiving portion of the clamping assembly.

23. The system of claim 22, wherein the cannula type within the receiving portion of the clamping assembly is determined based on an angle of the magnet coupled to the cannula.

24. The system of claim 18, wherein the robotic surgical system comprises a visual feedback mechanism or an audio feedback mechanism.

25. A system for controlling attachment of a cannula to a robotic surgical system, the system comprising:

a clamp assembly configured to attach a cannula to a robotic surgical system, the clamp assembly operable to transition between an open position configured to receive the cannula and a closed position to attach the cannula to the robotic surgical system;

A sensor assembly operable to detect whether the clamp assembly is in the open position or the closed position, or the presence of the cannula received by the clamp assembly; and

one or more processors configured to control attachment of the cannula to the robotic surgical system based on the detection by the sensor assembly.

26. The system of claim 25, wherein the one or more processors cause the surgical robotic system to, when the sensor assembly detects that the clamp assembly is in the open position:

disengaging a brake assembly associated with a surgical robotic arm coupled to the clamping assembly; and

a gravity compensated active return drive mechanism associated with the surgical robotic arm is engaged to allow positioning of the cannula within the clamping assembly.

27. The system of claim 26, wherein when the sensor assembly detects a transition of the clamp assembly to the closed position, the one or more processors cause the surgical robotic system to:

engaging a brake assembly associated with the surgical robotic arm; and

Disengaging the gravity compensated active return drive mechanism associated with the surgical robotic arm such that the current position of the cannula relative to the clamping assembly is maintained.

28. The system of claim 26, wherein when the sensor assembly detects a transition of the clamp assembly to the closed position, the one or more processors cause the surgical robotic system to:

engaging a brake assembly associated with a surgical robotic arm coupled to the cannula; and

disengaging the gravity compensated active return drive mechanism associated with the surgical robotic arm.

29. The system of claim 28, wherein the sensor assembly further detects the presence of the cannula within the clamp assembly, and the one or more processors cause the surgical robotic system to notify a user that the cannula is attached to the surgical robotic system upon detecting the presence of the cannula.

30. The system of claim 28, wherein the sensor assembly further detects the presence of the cannula within the clamp assembly, and upon detecting the presence of the cannula, the one or more processors cause the surgical robotic system to:

Determining the type of cannula; and

notifying the user of the cannula type.

31. The system of claim 28, wherein the one or more processors cause the surgical robotic system to, when the sensor assembly detects a transition of the clamp assembly to an open position, detects that the cannula is not present within the clamp assembly, or does not detect a cannula identifier:

engaging a brake assembly associated with the surgical robotic arm; and

notifying the user that the surgical robotic system is ready for cannula attachment.

32. An apparatus for attachment of a cannula to a robotic surgical system, the apparatus comprising:

a clamp operable to transition between an open position configured to receive a cannula and a closed position to attach the cannula to a robotic surgical system;

an actuator operable to transition the clamp between the open position and the closed position; and

a coupling member pivotally coupled to the clamp at a first pivot point and pivotally coupled to the actuator at a second pivot point, and wherein in the closed position the second pivot point is eccentric relative to the first pivot point.

33. The apparatus of claim 32, wherein in the closed position the second pivot point is eccentric to the first pivot point by an angle of one degree or less.

34. The apparatus of claim 32, wherein the second pivot point is eccentric relative to the first pivot point such that the clamp gradually forces itself to the closed position with any increased load applied to the cannula attached to the robotic surgical system.

35. The apparatus of claim 32, wherein decentering the second pivot point relative to the first pivot point prevents the clamp from transitioning to the open position when a force is applied to the cannula attached to the robotic surgical system.

36. The apparatus of claim 32, wherein the clamp includes a first end rotatably coupled to a base member at a third pivot point and a second end rotated to a forward position to attach the cannula to the robotic surgical system.

37. The apparatus of claim 36, wherein the second end includes a cannula mating feature configured to strengthen the attachment of the cannula to the robotic surgical system.

38. The apparatus of claim 36, wherein the actuator is coupled to the base member at a fourth pivot point to form a four bar linkage.

39. The apparatus of claim 38, wherein the actuator comprises a first end configured to allow a user to manually cause the actuator to transition the clip to the open position and a second end proximate an unlocking mechanism, wherein the unlocking mechanism engages the actuator to lock the clip in the open position and disengages the actuator to allow the clip to transition to the closed position when contacted by the cannula.

40. The apparatus of claim 32, further comprising a base member having a cannula receiving chamber within which the cannula is positioned when attached to the robotic surgical system by the clamp, and wherein the receiving chamber includes a cannula mating feature to guide the cannula into the receiving chamber and prevent misalignment of the cannula.

41. A cannula sterile adapter for attachment of a cannula to a robotic surgical system, the adapter comprising:

a rigid barrier portion having a cannula hub, a first cannula hub structure extending from the cannula hub, and a second cannula hub, the cannula hub defining an opening sized to receive a cannula boss, the first and second cannula hubs sized to interface with an alignment structure of a cannula boss; and

A flexible barrier portion molded to the rigid barrier portion, the flexible barrier portion defining a cavity surrounding the opening of the rigid barrier portion, the opening sized to receive a cannula boss inserted therein, the cavity having a first side defined by the first cannula interface structure and a second side along which the second cannula interface structure is positioned, and wherein the second cannula interface structure is completely surrounded by the flexible barrier portion.

42. The adapter of claim 41, wherein the cannula interface includes a plate having an arm side facing a robotic surgical arm of the robotic surgical system and a cannula side facing the cannula boss, and the first cannula interface structure extends from the arm side in a direction of the robotic surgical arm.

43. The adapter of claim 41, wherein the flexible barrier portion is molded to an arm side of a plate and defines at least three sides of the cavity.

44. The adapter of claim 41, wherein the first cannula interface structure comprises a keel-like structure sized to interface with a complementary recessed area of the cannula boss.

45. The adapter of claim 41, wherein the rigid clip interface portion includes a plate molded to the second side.

46. The adapter of claim 45, wherein the angle of the plate is modifiable to the angle of the alignment feature of the cannula boss.

47. The adapter of claim 41, further comprising a retention tab coupled to the second side of the flexible barrier portion, the retention tab sized to retain the cannula sterile adapter within the clip assembly during insertion and removal of the cannula boss within the clip assembly.

48. The adapter of claim 41, further comprising a mating datum coupled to a third side of the flexible barrier portion and configured to maintain alignment between the cannula boss inserted therein and an axis of an associated tool.

49. The adapter of claim 41, wherein the rigid barrier portion is formed of a plastic material.

50. The adapter of claim 41, wherein the flexible barrier portion is formed of a flexible elastomeric material over-molded onto the rigid barrier portion.

51. The adapter of claim 41, wherein the flexible barrier portion comprises thermoplastic polyurethane.

52. An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising:

a clamp assembly configured to attach a cannula to a robotic surgical system, the clamp assembly comprising an actuator coupled to a clamp to transition the clamp between an open position configured to receive the cannula and a closed position to attach the cannula to the robotic surgical system; and

an unlocking assembly coupled to the clamp assembly to control the transition of the clamp, the unlocking assembly having a hook sized to engage a bearing coupled to the actuator and disengage the bearing to allow the clamp to automatically transition to the closed position when the clamp is in the open position.

53. The apparatus of claim 52, wherein the hook includes a tip that extends beyond a tangent point of the bearing to engage the bearing, and when the tip is aligned with the tangent point, the hook disengages the bearing to allow the clamp to transition to the closed position.

54. The apparatus of claim 52, wherein aligning a tip with a tangent point rotates the bearing, which allows the hook to disengage from the bearing.

55. The apparatus of claim 52, wherein the hook is coupled to a spring to bias the hook to engage the bearing.

56. The apparatus of claim 52, wherein engagement or disengagement between the hook and the bearing provides audible or tactile feedback informing a user of the engaged state of the unlocking assembly.

57. The apparatus of claim 52, wherein the unlocking assembly disengages from the bearing when contacted by a cannula inserted into the clamping assembly.

58. The apparatus of claim 52, further comprising:

an adjustment mechanism operable to adjust the force required to engage or disengage the hook from the bearing.

59. The apparatus of claim 58, wherein the adjustment mechanism comprises a set screw that is adjustable between a first position that increases the spacing between the hook and the bearing and a second position that decreases the spacing between the hook and the bearing.

60. The apparatus of claim 59, wherein in the first position, a force required to disengage the hook from the bearing is reduced.

61. The apparatus of claim 59, wherein in the second position, a force required to disengage the hook from the bearing increases.

62. An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising:

a clamp operable to transition between an open position configured to receive the cannula and a closed position to attach the cannula to the robotic surgical system;

a locking assembly coupled to a clamp assembly to hold the clamp in the open position and release the clamp to the closed position when a force is applied by a cannula, the locking assembly having an unlocking hook that engages an unlocking bearing of the clamp in the open position and disengages the unlocking bearing to release the clamp to the closed position; and

an adjustment member operable to adjust the force required to disengage the unlocking bearing.

63. The apparatus of claim 62, wherein the unlatch hook is biased by a spring toward engagement of the unlatch bearing.

64. The apparatus of claim 63, wherein the adjustment member biases the position of the unlocking hook away from the unlocking bearing to reduce a force required to disengage the unlocking bearing.

65. The apparatus of claim 63, wherein the adjustment member biases a position of the unlocking hook toward the unlocking bearing to increase the force required to disengage the unlocking bearing.

66. The apparatus of claim 63, wherein the adjustment member comprises a set screw extending through the unlocking hook to an interface between the unlocking hook and the unlocking bearing.

67. The apparatus of claim 66, wherein tightening the set screw deflects the position of the unlocking hook away from the unlocking bearing.

68. The apparatus of claim 66, wherein loosening the set screw deflects the position of the unlocking hook toward the unlocking bearing.

69. The apparatus of claim 62, wherein the unlocking bearing is a ball bearing.

70. The apparatus of claim 62, wherein the clamp comprises an actuator coupled to a first clamping member of the clamp.

71. The apparatus of claim 70, wherein the actuator is operable to move the first clamp member between the open position and the closed position, and a ball bearing is coupled to the actuator.

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