Attachment mechanism for using an endoscope with a surgical robot
A surgical system for use with a surgical robot may include an endoscope including a handle and an elongate shaft extending distally from the handle, an attachment mechanism including a fixture configured to receive the handle of the endoscope and a mounting structure configured to attach the fixture to the surgical robot, a motorized introducer apparatus spaced apart from the surgical robot and configured to translate the elongate shaft of the endoscope relative to a patient, and an input device configured to be operated using one hand only. The input device may include a plurality of tactile buttons operable using the one hand, and a joystick configured for operation by a thumb of the one hand. The input device may include a plurality of motion sensors configured to determine position and orientation of the input device in space.
1 . A surgical system for use with a surgical robot, comprising:
an endoscope including a handle and an elongate shaft extending distally from the handle;
an attachment mechanism including a fixture configured to receive the handle of the endoscope and a mounting structure configured to attach the fixture to the surgical robot;
a motorized introducer apparatus spaced apart from the surgical robot and configured to translate the elongate shaft of the endoscope relative to a patient; and
an input device configured to be operated using one hand only, the input device including:
a plurality of tactile buttons operable using the one hand; and
a joystick configured for operation by a thumb of the one hand.
2 . The surgical system of claim 1 , wherein the plurality of tactile buttons includes a set home button and a go home button.
3 . The surgical system of claim 1 , wherein the plurality of tactile buttons includes:
an extend button configured to advance the shaft of the endoscope through the motorized introducer apparatus; and
a retract button configured to retract the shaft of the endoscope through the motorized introducer apparatus.
4 . The surgical system of claim 1 , wherein the plurality of tactile buttons includes a lock mode button configured to lock the surgical robot and the attachment mechanism in their current configuration.
5 . The surgical system of claim 1 , wherein the plurality of tactile buttons includes an operational mode button configured to permit all movement functionality of the surgical robot and the attachment mechanism.
6 . The surgical system of claim 1 , wherein the fixture includes a first motor operably coupled to a first drive mechanism, the first drive mechanism being configured to engage the handle of the endoscope to operate a deflection mechanism of the endoscope; and
wherein the mounting structure includes a second motor operably coupled to a second drive mechanism, the second drive mechanism being configured to rotate the fixture relative to the mounting structure.
7 . The surgical system of claim 6 , wherein the joystick is configured to control the first motor and the second motor.
8 . The surgical system of claim 1 , wherein the plurality of tactile buttons includes a manual positioning mode button configured to permit manual movement of the surgical robot without any other input from the input device.
9 . The surgical system of claim 1 , wherein the input device includes at least one feedback element each operatively connected to a corresponding sensor disposed at a distal tip of the elongate shaft of the endoscope.
10 . A surgical system for use with a surgical robot, comprising:
an endoscope including a handle and an elongate shaft extending distally from the handle;
an attachment mechanism including a fixture configured to receive the handle of the endoscope and a mounting structure configured to attach the fixture to the surgical robot;
a motorized introducer apparatus spaced apart from the surgical robot and configured to translate the elongate shaft of the endoscope relative to a patient; and
an input device configured to be operated using one hand only, the input device including:
a plurality of tactile buttons operable using the one hand, the plurality of tactile buttons including a clutch button;
a joystick configured for operation by a thumb of the one hand; and
a plurality of motion sensors configured to determine position and orientation of the input device in space;
wherein movement of the input device in space while the clutch button is depressed controls movement of at least some joints of the surgical robot;
wherein movement of the surgical robot is prevented when the clutch button is released.
11 . The surgical system of claim 10 , wherein the plurality of tactile buttons includes a set home button and a go home button.
12 . The surgical system of claim 10 , wherein the plurality of tactile buttons includes a calibration button.
13 . The surgical system of claim 10 , wherein the plurality of tactile buttons includes a speed mode button.
14 . The surgical system of claim 10 , wherein the plurality of tactile buttons includes at least one of the following:
an irrigation button configured to activate fluid irrigation through the endoscope,
an image capture button configured to capture an image seen via a camera disposed within the endoscope, and
a memory button configured to save a second stored position of the surgical robot.
15 . The surgical system of claim 10 , wherein the fixture includes a first motor operably coupled to a first drive mechanism, the first drive mechanism being configured to engage the handle of the endoscope to operate a deflection mechanism of the endoscope; and
wherein the mounting structure includes a second motor operably coupled to a second drive mechanism, the second drive mechanism being configured to rotate the fixture relative to the mounting structure.
16 . The surgical system of claim 15 , wherein the joystick is configured to control the second motor and the motorized introducer apparatus.
17 . The surgical system of claim 15 , wherein the plurality of tactile buttons includes a deflection button configured to control the first motor.
18 . The surgical system of claim 10 , wherein movement of the input device about a first axis while the clutch button is depressed causes movement of a first joint of the surgical robot about a first robot axis.
19 . The surgical system of claim 10 , wherein movement of the input device about a second axis while the clutch button is depressed causes movement of a second joint of the surgical robot about a second robot axis.
20 . A surgical system for use with a surgical robot, comprising:
an endoscope including a handle and an elongate shaft extending distally from the handle;
an attachment mechanism including a fixture configured to receive the handle of the endoscope and a mounting structure configured to attach the fixture to the surgical robot;
a motorized introducer apparatus spaced apart from the surgical robot and configured to translate the elongate shaft of the endoscope relative to a patient; and
an input device configured to control motion of the surgical robot and/or the motorized introducer apparatus using one hand only, the input device including:
a plurality of tactile buttons operable using the one hand; and
a joystick configured for operation by a thumb of the one hand.