Robotic surgical systems having handheld controllers for releasably coupling interchangeable dexterous end-effectors
Handheld surgical systems having an adjustable, ergonomic handheld controller and a series of interchangeable surgical instruments with dexterous, end-effectors for performing a surgical procedure, e.g., removing brain tumor tissue from confined spaces, and methods of use thereof are disclosed. The end-effector may be actuated in one or more degrees of freedom via a tendon routing system comprising a plurality of antagonistic pairs of tendons extending from the end-effector to a plurality of independently rotatable capstan shafts disposed within a housing of the interchangeable instrument and configured to be releasably and operatively coupled to one or more motors disposed within the handheld controller.
1 . A handheld controller for releasably coupling to an interchangeable instrument having an end-effector operatively coupled to one or more capstan shafts via a tendon routing system, the handheld controller comprising:
a connection portion configured to be releasably coupled to the interchangeable instrument;
a handle portion rotatably coupled to the connection portion via a joint, the handle portion sized and shaped to be held in a user's palm;
one or more controller couplers disposed on the connection portion and operatively coupled to one or more motors, each of the one or more controller couplers comprising a boss configured to be releasably engaged with a groove of a corresponding instrument coupler of the one or more capstan shafts when the interchangeable instrument is releasably coupled to the handheld controller to transmit rotary motion from the one or more motors to the one or more capstans shafts,
wherein the boss comprises a tapered portion configured to facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers.
2 . The handheld controller of claim 1 , wherein a cross-sectional area of the tapered portion of the boss decreases in a distal direction from the handheld controller towards the instrument couplers when the interchangeable instrument is releasably coupled to the handheld controller.
3 . The handheld controller of claim 1 , wherein the boss comprises a first geometry corresponding to a second geometry of the groove of the corresponding instrument coupler, such that, when the boss is releasably engaged with the groove, relative rotation between the one or more controller couplers and the corresponding instrument couplers is prohibited.
4 . The handheld controller of claim 3 , wherein the first and second geometries comprise a profile having multiple lines of symmetry intersecting an axis of rotation of the one or more controller couplers.
5 . The handheld controller of claim 4 , wherein the profile comprises a hexagonal shape.
6 . The handheld controller of claim 1 , wherein at least one of the one or more controller couplers or the corresponding instrument couplers are configured to rotate relative to one another upon engagement of the tapered portion of the boss with the groove as the interchangeable instrument is releasably coupled to the handheld controller to thereby facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers.
7 . The handheld controller of claim 1 , wherein the one or more controller couplers are configured to be slidably movable translationally between a retracted position and an extended position, the handheld controller further comprising one or more compression springs configured to bias the one or more controller couplers towards the extended position to facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers.
8 . The handheld controller of claim 7 , wherein the one or more motors are disposed within a compliant motor pack configured to be slidably movable translationally between the retracted position and the extended position responsive to a force to facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers.
9 . The handheld controller of claim 1 , further comprising one or more interfaces operatively coupled to the one or more motors, the one or more interfaces configured to be actuated to cause the one or more motors to rotate the one or more controller couplers to thereby transmit rotary motion from the one or more motors to the one or more capstans shafts via the corresponding instrument couplers when the interchangeable instrument is releasably coupled to the handheld controller.
10 . The handheld controller of claim 9 , wherein, when the one or more controller couplers are in the retracted position, actuation of the one or more interfaces causes rotation of the one or more controller couplers relative to the corresponding instrument couplers to thereby facilitate engagement between the boss of the one or more controller couplers and the groove of the corresponding instrument couplers.
11 . The handheld controller of claim 9 , wherein the one or more motors are configured to be individually actuated via the one or more interfaces to transmit rotary motion from the respective one or more motors to the corresponding one or more capstans shafts to thereby cause movement of the end-effector in one or more degrees of freedom when the interchangeable instrument is releasably coupled to the handheld controller.
12 . The handheld controller of claim 11 , wherein the one or more motors comprise:
a first motor operatively coupled to a first interface of the one or more interfaces, the first motor comprising a first controller coupler of the one or more controller couplers and configured to be actuated via the first interface to cause movement of the end-effector in a first degree of freedom of the one or more degrees of freedom when the interchangeable instrument is releasably coupled to the handheld controller; and
a second motor operatively coupled to the first interface, the second motor comprising a second controller coupler of the one or more controller couplers and configured to be actuated via the first interface to cause movement of the end-effector in a second degree of freedom of the one or more degrees of freedom when the interchangeable instrument is releasably coupled to the handheld controller.
13 . The handheld controller of claim 12 , wherein the first degree of freedom comprises a pitch degree of freedom, and wherein the second degree of freedom comprises a yaw degree of freedom.
14 . The handheld controller of claim 12 , wherein the one or more motors comprise a third motor operatively coupled to a second interface of the one or more interfaces, the third motor comprising a third controller coupler of the one or more controller couplers and configured to be actuated via the second interface to cause movement of the end-effector in a third degree of freedom of the one or more degrees of freedom when the interchangeable instrument is releasably coupled to the handheld controller.
15 . The handheld controller of claim 14 , wherein the third degree of freedom comprises an open and close degree of freedom.
16 . The handheld controller of claim 14 , wherein the first and second controller couplers are arranged in a linear configuration.
17 . The handheld controller of claim 16 , wherein the third controller coupler is arranged in a triangular configuration relative to the first and second controller couplers.
18 . The handheld controller of claim 1 , wherein the handle portion is configured to be selectively rotated relative to the connection portion at predefined increments.
19 . The handheld controller of claim 18 , further comprising a compression spring configured to bias the handle portion towards the connection portion to thereby maintain a position of the handle portion relative to the connection portion at the predefined increments.
20 . The handheld controller of claim 18 , wherein a proximal end of the connection portion comprises a first hirth gear, and wherein a distal end of the handle portion comprises a second hirth gear configured to releasably engage the first hirth gear at the predefined increments to thereby form a hirth joint at the joint.
21 . A handheld controller for releasably coupling to an interchangeable instrument having an end-effector operatively coupled to one or more capstan shafts via a tendon routing system, the handheld controller comprising:
a connection portion configured to be releasably coupled to the interchangeable instrument;
a handle portion configured to be selectively rotated relative to the connection portion at predefined increments via a joint, the handle portion sized and shaped to be held in a user's palm;
one or more motors slidably disposed within the connection portion between a retracted position and an extended position, the one or more motors configured to actuate the one or more capstan shafts when the interchangeable instrument is releasably coupled to the handheld controller; and
one or more compression springs coupled to the one or more motors, the one or more compression springs configured to bias the one or more motors towards the extended position to facilitate coupling of the handheld controller to the interchangeable instrument.
22 . The handheld controller of claim 21 , further comprising:
one or more controller couplers operatively coupled to the one or more motors, each of the one or more controller couplers comprising a boss configured to be releasably engaged with a groove of a corresponding instrument coupler of the one or more capstan shafts when the interchangeable instrument is releasably coupled to the handheld controller to transmit rotary motion from the one or more motors to the one or more capstan shafts,
wherein the boss comprises a tapered portion configured to facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers.
23 . The handheld controller of claim 22 , wherein a cross-sectional area of the tapered portion of the boss decreases in a distal direction from the connection portion towards the instrument couplers when the interchangeable instrument is releasably coupled to the handheld controller.
24 . The handheld controller of claim 22 , wherein at least one of the one or more controller couplers or the corresponding instrument couplers are configured to rotate relative to one another upon engagement of the tapered portion of the boss with the groove as the interchangeable instrument is releasably coupled to the handheld controller to thereby facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers.
25 . The handheld controller of claim 24 , wherein, when the one or more controller couplers are in the retracted position, actuation of the one or more motors causes rotation of the one or more controller couplers relative to the corresponding instrument couplers to thereby facilitate engagement between the boss of the one or more controller couplers and the groove of the corresponding instrument couplers.
26 . The handheld controller of claim 21 , wherein the one or more motors are disposed within a compliant motor pack configured to be slidably disposed within the connection portion between the retracted position and the extended position responsive to a force to facilitate coupling of the handheld controller to the interchangeable instrument.
27 . The handheld controller of claim 21 , wherein a proximal end of the connection portion comprises a first hirth gear, and wherein a distal end of the handle portion comprises a second hirth gear configured to releasably engage the first hirth gear at the predefined increments to thereby form a hirth joint at the joint.
28 . The handheld controller of claim 21 , further comprising one or more interfaces operatively coupled to the one or more motors, the one or more interfaces configured to be selectively actuated to cause at least one of the one or more motors to rotate the corresponding one or more controller couplers to thereby transmit rotary motion from the at least one of the one or more motors to the corresponding one or more capstans shafts via the corresponding instrument couplers to thereby cause movement of the end-effector in one or more degrees of freedom when the interchangeable instrument is releasably coupled to the handheld controller.
29 . A handheld controller for releasably coupling to an interchangeable instrument having an end-effector operatively coupled to one or more capstan shafts via a tendon routing system, the handheld controller comprising:
one or more controller couplers operatively coupled to one or more motors and configured to be slidably movable translationally between a retracted position and an extended position, each of the one or more controller couplers comprising a boss configured to be releasably engaged with a groove of a corresponding instrument coupler of the one or more capstan shafts when the interchangeable instrument is releasably coupled to the handheld controller to transmit rotary motion from the one or more motors to the one or more capstans shafts, the boss comprising a tapered portion configured to facilitate engagement of the boss with the groove; and
one or more compression springs configured to bias the one or more controller couplers towards the extended position to facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers.
30 . The handheld controller of claim 29 , wherein at least one of the one or more controller couplers or the corresponding instrument couplers are configured to rotate relative to one another upon engagement of the tapered portion of the boss with the groove as the interchangeable instrument is releasably coupled to the handheld controller to thereby facilitate self-alignment of the one or more controller couplers with the corresponding instrument couplers.