Robotic end effector with adjustable inner diameter
An end effector for a robotic-assisted surgical system having an adjustable inner diameter. In embodiments, the end effector includes a main body having an opening extending through the main body, one or more members located within the main body that extend into and retract from the opening to vary a diameter of the opening through which a tool may be inserted, and an adjustment mechanism on the end effector and coupled to the one or more members for varying the diameter of the opening.
1. An end effector for a surgical robotic system, comprising:
a main body having an opening extending through the main body;
one or more members located within the main body that extend into and retract from the opening to vary a diameter of the opening through which a tool may be inserted, the one or more members comprising a plurality of flutes that are pivotable towards and away from an interior sidewall of the main body to vary the diameter of the opening; and
an adjustment mechanism on the end effector and coupled to the one or more members for varying the diameter of the opening, the adjustment mechanism comprising a collar located over the main body and coupled to the plurality of flutes such that rotation of the collar in a first direction relative to the main body causes the plurality of flutes to pivot away from the interior sidewall of the main body to reduce the diameter of the opening, and rotation of the collar in a second direction relative to the main body causes the plurality of flutes to pivot towards the interior sidewall of the main body to increase the diameter of the opening.
2. The end effector of claim 1 , wherein each of the flutes is coupled to a gear that engages with an interior surface of the collar such that a rotation of the collar on the main body causes the flute to pivot with respect to the main body.
3. The end effector of claim 1 , wherein the plurality of flutes are self-centering.
4. The end effector of claim 1 , further comprising:
a locking mechanism that is engageable to hold the positions of the plurality of flutes within the main body.
5. The end effector of claim 4 , wherein the collar is a first collar and the locking mechanism comprises a second collar located over the main body.
6. The end effector of claim 5 , wherein the second collar is moveable on the main body between a first position, in which the second collar contacts against the first collar to prevent the first collar from rotating relative to the main body, and a second position, in which the second collar is moved away from the first collar to enable the first collar to rotate with respect to the main body.
7. The end effector of claim 1 , further comprising a dial indicator that provides an indication of the diameter of the opening.
8. The end effector of claim 7 , wherein the dial indicator includes a reference indicator fixed to the main body and graduated markings located on the collar.
9. The end effector of claim 1 , further comprising a connecting member that extends from a side surface of the main body and attaches to a robotic arm.
10. The end effector of claim 1 , further comprising a marker device fixed to the end effector that enables the end effector to be tracked using a motion tracking system.
11. A method of inserting a tool into the body of a patient, comprising:
positioning a main body of an end effector over the body of the patient such that an opening extending through the main body defines a trajectory into the body of the patient;
using an adjustment mechanism comprising a collar located over the main body and coupled to a plurality of flutes located within the main body to vary a size of a working channel through the opening of the end effector by rotating the collar relative to the main body to pivot the plurality of flutes relative to an interior sidewall of the main body to vary the size of the working channel such that the diameter of the working channel corresponds with an outer diameter of the tool; and
inserting the tool through the working channel of the end effector along the defined trajectory and into the body of the patient.
12. The method of claim 11 , wherein the tool comprises at least one of a needle, a cannula, an awl, a drill, a screw driver, a screw, and implant, a tool for gripping or cutting, an electrode, a radiation source, and an endoscope.
13. The method of claim 11 , wherein positioning the end effector comprises controlling a robotic arm to move the end effector to a position such that the opening extending through the main body is aligned with a pre-defined trajectory into the body of the patient.