INTEGRATION OF ROBOTIC ARMS WITH SURGICAL PROCEDURES
Embodiments of the present disclosure provide improved methods and apparatus for coupling a probe to an instrument device manipulator (e.g., robotic arm). In some embodiments, a probe, which may be carried by a handpiece, is configured to couple to the end of a device manipulator of a robotic arm. A transmission can be provided that is configured to couple to the probe and also couple to the instrument device manipulator. The transmission can be configured to receive motion input from the instrument device manipulator and transfer the motion input into motion of the probe. The transmission can provide improved movement of the probe. By decreasing the number of components on the handpiece and probe, the handpiece and probe can be provided as a sterile, single use consumable device and the transmission can be reused.
1 . A system of treating or imaging a patient, said system comprising:
a probe sized for insertion into the patient;
a transmission configured to couple to the probe; and
an instrument device manipulator configured to operatively couple to the transmission, the instrument device manipulator comprising one or more motors configured to engage with the transmission;
wherein the transmission is configured to receive an input from the one or more motors and is further configured to transmit the input from the one or more motors to the probe to cause the probe to rotate, translate, articulate, or a combination.
2 . The system of claim 1 , wherein the probe is a treatment probe, and further comprising an imaging probe sized for insertion into the patient.
3 . The system of claim 2 , wherein the imaging probe is a cystoscope.
4 . The system of claim 2 , wherein the imaging probe is a TRUS probe.
5 . The system of claim 2 , wherein the treatment probe is configured for tissue sample collection.
6 . The system of claim 2 , wherein the transmission is configured to receive the input from the one or more motors and cause the treatment probe to rotate, translate, articulate, or a combination.
7 . The system of claim 6 , wherein the transmission is configured to receive the input from two or more motors and add the input from the two or more motors to an output of the transmission.
8 . The system of claim 1 , wherein the transmission is configured to provide electrical communication between the instrument device manipulator and treatment probe.
9 . The system of claim 8 , wherein the electrical communication comprises encoder signals from the treatment probe associated with one or more of position, translation, and rotation of the treatment probe.
10 . The system of claim 8 , wherein the electrical communication comprises delivering electrical power to the treatment probe.
11 . The system of claim 1 , wherein the transmission comprises a driving gear on a driving shaft and a driven gear on a driven shaft, and wherein the driving shaft and the driven shaft are substantially orthogonal to one another.
12 . The system of claim 11 , wherein the driving gear and the driven gear comprise bevel gears.
13 . The system of claim 11 , wherein the driving gear and the driven gear comprise spiroid gears.
14 . The system of claim 11 , wherein the driving gear and the driven gear comprise worm gears.
15 . The system of claim 1 , wherein the transmission comprises a driving gear or driving pulley on a driving shaft and a driven gear or driven pulley on a driven shaft, and wherein the driving shaft and the driven shaft are substantially parallel to one another.
16 . The system of claim 15 , wherein the driving gear and the driven gear comprise spur gears.
17 . The system of claim 15 , wherein the driving gear and the driven gear comprise helicoidal gears.
18 . The system of claim 15 , wherein the driving pulley and the driven pulley comprise timing pulleys connected by a timing belt.
19 . The system of claim 15 , wherein the driving pulley and the driven pulley comprise timing sprockets connected by a timing chain.
20 . The system of claim 1 , wherein the probe further comprises a coupling to releasably couple the probe to the transmission.