CN114901200A - Advanced basket drive mode - Google Patents

Abstract

The present invention provides a robotic system comprising a robotic manipulator configured to: manipulate a medical instrument having a basket; open the basket at a first opening speed and a second, faster opening speed; and The first closing speed and the faster second closing speed close the basket. The system includes an input device configured to receive one or more user interactions and induce one or more actions, including directly controlled movements and/or pre-programmed movements, through the robotic manipulator. The control circuitry of the robotic system is configured to: in response to receiving a first user interaction via the input device, trigger a first pre-programmed movement of the robotic manipulator to open the basket at the faster second opening speed; and In response to receiving a second user interaction via the input device, a second preprogrammed motion is triggered to close the basket at the faster second closing speed.

Description

Advanced Basket Drive Mode

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application claims priority to US Provisional Patent Application Serial No. 62/956,071, filed December 31, 2019, entitled "ADVANCEDBASKET DRIVE MODE," the disclosure of which is hereby The entire text is incorporated by reference.

Background technique

technical field

The present disclosure relates to the fields of medical devices and procedures and user interfaces.

Description of Related Art

Various medical procedures involve the use of one or more devices configured to penetrate human anatomy to reach a treatment site. Certain procedures may involve inserting one or more devices through a patient's skin or orifice to reach a treatment site and extract objects, such as urethral stones, from the patient.

SUMMARY OF THE INVENTION

Described herein is one or more systems, devices, and/or methods for assisting a physician or other person in controlling the access of medical devices to objects located within human anatomy, such as urethral stones.

One general aspect includes a robotic system for performing a medical procedure, the robotic system including a robotic manipulator configured to: manipulate a medical instrument having a basket, the medical instrument configured to enter a human anatomy; opening the basket at a first opening speed and a second opening speed faster than the first opening speed; and closing the basket at a first closing speed and a second closing speed faster than the first closing speed. The system may include an input device configured to receive one or more user interactions and induce one or more actions through the robotic manipulator, the one or more actions including directly controlled movements and pre-programmed movements in at least one of. The system may also include control circuitry communicatively coupled to the input device and the robotic manipulator and configured to trigger a first preset of the robotic manipulator in response to receiving a first user interaction via the input device programming a movement, the first pre-programmed movement comprising opening the basket at the second opening speed; and triggering a second pre-programmed movement of the robotic manipulator in response to receiving a second user interaction via the input device, the second pre-programmed movement Programming the movement includes closing the basket at the second closing speed. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program being configured to perform the acts of the methods.

Implementations of the robotic system may include one or more of the following features. The robotic system may include a ureteroscope. The medical procedure may include ureteroscopy. The input device may include a control pad having: a plurality of directional controls configured to guide movement of the robotic manipulator along a plurality of axes; and a plurality of buttons including a first A button and a second button. The first user interaction may include double-clicking the first button. The second user interaction may include double-clicking the second button. The control circuit may be further configured to trigger a third pre-programmed movement of the robotic manipulator, the third pre-programmed movement comprising repetitions at an accelerated speed in response to the simultaneous tapping of the first button and the second button , short distance, forward and backward movement. The control circuit may be further configured to: in response to receiving a third user interaction, trigger a third pre-programmed movement of the robotic manipulator, the third pre-programmed movement comprising repeated, short distance, forward movement at an accelerated speed and move backwards. The second preprogrammed movement may also include: detecting a torque on a drive mechanism of the basket; and ceasing the closing of the basket in response to the torque exceeding a threshold. The first user interaction and/or the second user interaction may include voice commands. Implementations of the described techniques may include hardware, methods or processes, or computer software on a computer-accessible medium.

General aspects include a method for controlling a medical device using a robotic manipulator. The method may include manipulating a medical instrument using the robotic manipulator, the medical instrument including a basket to access human anatomy, the robotic manipulator being configured to open the basket at a first opening speed and a second opening speed, the robotic manipulator being further configured to close the basket at a first closing speed and a second closing speed; and receiving one or more user interactions via the input device for triggering preprogrammed actions of the robotic manipulator. The method may also include triggering a first preprogrammed motion of the robotic manipulator in response to receiving a first user interaction via the input device, the first preprogrammed including opening the basket at the second opening speed, the second opening The speed is faster than this first opening speed. The method may also include triggering a second preprogrammed movement of the robotic manipulator in response to receiving a second user interaction via the input device, the second preprogrammed movement including closing the basket at the second closing speed, the second The closing speed is faster than the first closing speed. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program being configured to perform the acts of the methods.

Implementations of the method may include one or more of the following features. The first user interaction may include double-clicking a first button of the input device, and the second user interaction may include double-clicking a second button of the input device. The method may also include triggering a third pre-programmed movement of the robotic manipulator in response to the simultaneous tapping of the first button and the second button, the third pre-programmed movement comprising repetitive, short distance, Move forward and backward. The method may further include: in response to receiving a movement input along a first axis on the input device, moving a center trajectory of the third preprogrammed motion of the robotic manipulator along the first axis; and at the center The short distance, forward and backward movement is repeated at the track. The third preprogrammed movement may also include repeated rotational movements. The method may also include manipulating an endoscope into a human anatomy using the robotic manipulator, the endoscope being configured to capture images of the medical instrument within the human anatomy. The method may also include: receiving, via an input device, a third user interaction for directly controlling movement of the medical instrument; and using the robotic manipulator to manipulate along one or more axes of movement based on the received third user interaction the medical device. The second preprogrammed movement may also include: detecting a torque on a drive mechanism of the basket; and ceasing the closing of the basket in response to the torque exceeding a threshold. Implementations of the described techniques may include hardware, methods or processes, or computer software on a computer-accessible medium.

General aspects include a control system for controlling a robotic device for performing medical procedures. The control system may include an input device configured to receive one or more user interactions and induce one or more actions through the robotic device, the one or more actions including directly controlled movements and pre-programmed movements in at least one of. The control system may also include a communication interface configured to send commands to the robotic device corresponding to the directly controlled movement and the preprogrammed movement, the commands comprising: moving, by the robotic device, a medical instrument with a basket , the medical device is configured to enter human anatomy; open the basket at a first opening speed and a second opening speed faster than the first opening speed; and open the basket at a first closing speed and a first closing speed faster than the first closing speed Two closing speeds close the basket. The control system may also include control circuitry communicatively coupled to the input device and the communication interface, the control circuitry configured to trigger a first preprogrammed movement of the robotic device in response to receiving a first user interaction , the first preprogrammed movement includes opening the basket at the second opening speed; and in response to receiving a second user interaction, triggering a second preprogrammed movement of the robotic device, the second preprogramming comprising closing at the second Speed closes the basket. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program being configured to perform the acts of the methods.

Specific implementations of the control system may include one or more of the following features. The input device may include: a directional control configured to direct movement of the robotic device along a plurality of axes; and a plurality of buttons including a first configured to trigger the first preprogrammed movement A button and a second button configured to trigger the second preprogrammed movement. Double-tapping the first button triggers the first pre-programmed movement and double-tapping the second button triggers the second pre-programmed movement. Clicking the first button triggers a third pre-programmed movement different from the first pre-programmed movement and clicking the second button triggers a fourth pre-programmed movement different from the second pre-programmed movement. The control circuit may be further configured to trigger a third pre-programmed movement of the robotic device in response to the simultaneous tapping of the first button and the second button, the third pre-programmed movement comprising repetitions at an accelerated speed, Short distances, forwards and backwards. The control circuit may be further configured to: in response to receiving a movement request along the first axis via the directional control, move the center trajectory of the third preprogrammed motion of the robotic device along the first axis; and at the This short distance, forward and backward movement is repeated at the center track. The input device may include a microphone configured to capture voice user commands; and the control circuit is further configured to identify a first voice user command corresponding to the first user interaction and a first voice user command corresponding to the second user interaction Two voice user commands. The robotic device may be located at a first geographic location different from the second geographic location of the control system; and the communication interface is further configured to send the command over a wide area network. Implementations of the described techniques may include hardware, methods or processes, or computer software on a computer-accessible medium.

One general aspect includes one or more non-transitory computer-readable media that store computer-executable instructions that, when executed by a control circuit, cause the control circuit to performing operations comprising: manipulating a medical instrument using a robotic device, the medical device including a basket to access human anatomy, the robotic device being configured to open the basket at a first opening speed and a second opening speed, the robotic device being further configured to close the basket at a first closing speed and a second closing speed; receiving via the input device one or more inputs for triggering a preprogrammed action of the robotic device; in response to receiving the first input via the input device, triggering a first preprogrammed movement of the robotic device, the first preprogrammed movement comprising opening the basket at the second opening speed, the second opening speed being faster than the first opening speed; and in response to receiving a first opening speed via the input device A second input triggers a second pre-programmed movement of the robotic device, the second pre-programming including closing the basket at the second closing speed, the second closing speed being faster than the first closing speed. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each computer program being configured to perform the acts of the methods.

Implementations of the non-transitory computer-readable medium may include one or more of the following features. The first input may include double-tapping a first button of the input device and the second input may include double-tapping a second button of the input device. The computer-executable instructions may be further configured to cause the control circuit to perform operations comprising: in response to simultaneous tapping of the first button and the second button, triggering a third preprogrammed motion of the robotic device, the third Preprogrammed movements include repetitions, short distances, forward and backward movements at accelerated speeds. The computer-executable instructions may be further configured to cause the control circuit to perform operations comprising: receiving, via the input device, a third input for controlling direct movement of the robotic device; and using the robotic device, based on the received The third input is to manipulate the medical device along one or more axes of movement. Implementations of the described techniques may include hardware, methods or processes, or computer software on a computer-accessible medium.

For purposes of summarizing the present disclosure, certain aspects, advantages and novel features have been described. It should be understood that not all such advantages are required to be achieved in accordance with any particular implementation. Accordingly, the disclosed embodiments may be carried out in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other advantages as taught or suggested herein.

Description of drawings

Various embodiments are depicted in the drawings for purposes of illustration and should in no way be construed as limiting the scope of the present disclosure. Furthermore, various features of the different disclosed embodiments may be combined to form additional embodiments, which are a part of this disclosure. Throughout the drawings, reference numerals may be reused to indicate correspondence between referenced elements.

1 illustrates an exemplary medical system for performing or assisting in performing a medical procedure, according to certain embodiments.

2A-2B illustrate a perspective view and a top profile view, respectively, of a controller for a medical system in accordance with certain embodiments.

3A-3C illustrate a urethral stone capture procedure according to certain embodiments.

4A-4B illustrate a basket recovery device and several basket configurations, respectively, according to certain embodiments.

5 is a flow diagram of a preprogrammed quick open process according to certain embodiments.

6 is a flow diagram of a pre-programmed quick shutdown process according to certain embodiments.

7 is a flow diagram of a preprogrammed shaking process according to certain embodiments.

FIG. 8 shows exemplary details of robotic system 110 in accordance with certain embodiments.

FIG. 9 shows exemplary details of the control system 140 in accordance with certain embodiments.

Detailed ways

Headings are provided herein for convenience only and do not necessarily affect the scope or meaning of the disclosure. While certain preferred embodiments and examples are disclosed below, the subject matter extends beyond the specifically disclosed embodiments to other alternative embodiments and/or uses, as well as modifications and equivalents thereof. Therefore, the scope of the claims that may appear herein is not to be limited by any specific embodiments described below. For example, in any method or process disclosed herein, the acts or operations of the method or process can be performed in any suitable order and are not necessarily limited to any particular disclosed sequence. Various operations may be described as multiple discrete operations in turn in a manner that may be helpful in understanding certain embodiments; however, the order of description should not be construed to imply that these operations are order dependent. Additionally, the structures, systems and/or devices described herein may be implemented as integrated components or as separate components. For purposes of comparing various embodiments, certain aspects and advantages of these embodiments are described. Not all of these aspects or advantages must be realized by any particular implementation. Thus, for example, various embodiments may be carried out in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other aspects or advantages as taught or suggested herein.

With regard to preferred embodiments, certain standard positional anatomical terms may be used herein to refer to the anatomy of animals (ie, humans). Although certain spatially relative terms are used herein, such as "outer", "inner", "upper", "lower", "below", "above", "vertical", "horizontal", "top", "bottom" and similar terms to describe the spatial relationship of one device/element or anatomical structure to another device/element or anatomical structure, but it should be understood that, for ease of description, these terms are used herein to describe the positional relationship between elements/structures, as shown in Fig. shown. It should be understood that the spatially relative terms are intended to encompass different orientations of the elements/structures in use or operation in addition to the orientation depicted in the figures. For example, an element/structure described as "above" another element/structure can represent a position under or beside such other element/structure in alternating orientations relative to the subject or element/structure, and vice versa.

Overview

The present disclosure relates to techniques and systems for controlling medical devices, such as basket retrieval devices for retrieval of urethral stones. Basket retrieval devices can be used in different situations during medical procedures, such as ureteroscopy. For example, the basket can be used to capture urethral stones, release urethral stones, reposition urethral stones, shake tissue off the basket and/or break up urethral stone blockages. Different scenarios utilize different techniques to operate the basket recovery unit. Baskets can be controlled to open/close, insert/retract and/or rotate, and the speed varies depending on the scene. In some embodiments, movement of the basket retrieval device is coordinated with movement of the sight glass for better feedback and control. Typically, the basket retrieval device is operated by two people, with the physician controlling the insertion/retraction of the basket retrieval device and the assistant controlling the opening/closing of the basket itself. Therefore, in order to successfully operate the device, collaboration and coordination between physicians and assistants is required.

Nephrolithiasis (also known as urolithiasis) is a relatively common medical condition that involves the formation of a lump of solid material in the urinary tract, called a "kidney stone" (renal calculi, renal lithiasis or nephrolithiasis) or "urinary stone." Urethral stones can form and/or be found in the kidneys, ureters, and bladder (called "bladder stones"). These urethral stones are formed from concentrated minerals and can cause severe abdominal pain once the stones are large enough to block the passage of urine through the ureter or urethra. Urinary stones can form from calcium, magnesium, ammonia, uric acid, cysteine, and/or other compounds.

To remove urethral stones from the bladder and ureter, the surgeon may insert a ureteroscope into the urinary tract through the urethra. Typically, a ureteroscope includes an endoscope at its distal end that is configured to enable visualization of the urinary tract. The ureteroscope may also include a lithotomy mechanism, such as a basket retrieval device, to capture or break up urethral stones. As described above, during a ureteroscopy procedure, one physician/technician may control the position of the ureteroscope while another other physician/technician may control the lithotomy mechanism.

In one exemplary procedure, the physician attempts to capture the stone while the assistant controls the opening/closing of the basket. As the physician inserts and articulates the basket, which requires a degree of coordination (and possibly a speculum at the same time), the assistant needs to quickly close the basket around the urethral stone until the stone is completely captured. In another operation involving releasing stones, the assistant needs to open the basket to the maximum and release the stones at high speed. In a procedure for shaking off tissue, an assistant or physician needs to shake the basket back and forth at a high frequency, causing the tissue to fall from the basket. In a procedure for repositioning the stone within the basket, the assistant may need to open the basket slightly to provide room for the stone to rotate, while the physician rocks the basket retrieval device back and forth, and sometimes inserts or retracts the basket retrieval device at the same time, to help adjust the basket position.

As mentioned above, the basket operation can have various degrees of complexity depending on the medical procedure. Conventional methods employ a single, low-speed basket drive mode that requires two user operations and does not provide physicians with sufficient flexibility or ease of use. Therefore, there is a need for more advanced basket drive modes that allow the physician to unilaterally control the basket (eg, adjust basket speed and/or open/close the basket) for more dynamic basket operation, as well as the ability to control multiple instruments simultaneously.

In many embodiments, these techniques and systems are discussed in the context of minimally invasive procedures. It should be understood, however, that these techniques and systems may be implemented in the context of any medical procedure, including, for example, percutaneous procedures, non-invasive procedures, Therapeutic procedures, diagnostic procedures, non-transdermal procedures, or other types of procedures. Endoscopy procedures may include bronchoscopy, ureteroscopy, gastroscopy, nephroscopy, nephrolithectomy, and the like. Furthermore, in many embodiments, these techniques and systems are discussed as being implemented as robotically assisted procedures. However, it should also be understood that these techniques and systems may be implemented in other procedures, such as in fully robotic medical procedures.

For ease of illustration and discussion, these techniques and systems are discussed in the context of removing urethral stones, such as kidney stones, from the kidney. However, as discussed above, these techniques and systems can be used to perform other procedures.

medical system

FIG. 1 illustrates an exemplary medical system 100 for performing or assisting in performing a medical procedure in accordance with one or more embodiments. Embodiments of the medical system 100 may be used in surgical and/or diagnostic procedures. Medical system 100 includes robotic system 110 configured to engage and/or control medical instrument 120 to perform procedures on patient 130 . The medical system 100 also includes a control system 140 that is configured to interface with the robotic system 110, provide information regarding the procedure and/or perform various other operations. For example, control system 140 may include display 142 to present user interface 144 to assist physician 160 in using medical device 120 . Additionally, the medical system 100 may include a table 150 configured to hold the patient 130 and/or imaging sensors 180, such as cameras, x-rays, computed tomography (CT), magnetic resonance imaging (MRI), positron emission Tomography (PET) devices, etc.

In some embodiments, physicians perform minimally invasive medical procedures, such as ureteroscopy. The physician 160 may interact with the control system 140 to control the robotic system 110 to navigate the medical instrument 120 (eg, basket retrieval device and/or scope) from the urethra to the kidney 170 where the stone 165 is located. Control system 140 may provide information about medical instrument 120 via display 142 to assist physician 160 in navigation, such as real-time images from medical instrument 120 or imaging sensor 180 . Once at the site of the kidney stone, the medical device 120 may be used to break up and/or capture the urethral stone 165 .

In some implementations using medical system 100, physician 160 may perform percutaneous procedures. To illustrate, if patient 130 has kidney stones 165 in kidney 170 that are too large to be removed via the urinary tract, physician 160 may perform a procedure to remove kidney stones through a percutaneous access point on patient 130 . For example, physician 160 may interact with control system 140 to control robotic system 110 to navigate medical instrument 120 (eg, a speculum) from the urethra to kidney 170 where stone 165 is located. Control system 140 may provide information about medical device 120 via display 142 to assist physician 160 in navigating medical device 120 , such as real-time images from medical device 120 or imaging sensor 180 . Once the site of the kidney stone is reached, the medical device 120 can be used to designate a target location for percutaneous access to the kidney (eg, a desired point for access to the kidney) for a second medical device (not shown). To minimize damage to the kidney, physician 160 may designate a specific papilla as a target location for accessing the kidney with a second medical instrument. However, other target locations may be specified or determined. Once the second medical device has reached the target location, the physician 160 may use the second medical device and/or another medical device to remove the kidney stone from the patient 130 (such as through a percutaneous access point). Although the above percutaneous procedures are discussed in the context of the use of medical device 120 , in some implementations, percutaneous procedures may be performed without the assistance of medical device 120 . Additionally, the medical system 100 may be used to perform various other procedures.

In the example of FIG. 1 , the medical device 120 is implemented as a basket retrieval device. Accordingly, for ease of discussion, the medical device 120 is also referred to as a "basket retrieval device 120". However, medical device 120 may be implemented as various types of medical devices including, for example, scopes (sometimes referred to as "endoscopes"), needles, catheters, guide wires, lithotriptors, clamps, vacuums, scalpels , a combination of the above items, etc. In some embodiments, the medical device is a steerable device, while in other embodiments, the medical device is a non-steerable device. In some embodiments, a surgical tool refers to a device, such as a needle, scalpel, guide wire, and the like, that is configured to puncture or insert through human anatomy. However, surgical tools may also refer to other types of medical instruments. In some embodiments, multiple medical devices may be used. For example, an endoscope can be used with the basket retrieval device 120 . In some embodiments, the medical device 120 may be a composite device incorporating several devices, such as a vacuum, a basket retrieval device, a scope, or a combination of various devices.

The robotic system 110 may be configured to facilitate, at least in part, a medical procedure. The robotic system 110 can be configured in a variety of ways, depending on the particular protocol. Robotic system 110 may include one or more robotic arms 112 (robotic arms 112(a), 112(b), 112(c)) to engage and/or control medical device 120 to perform procedures. As shown, each robotic arm 112 may include multiple arm segments coupled to joints that may provide multiple degrees of mobility. In the example of FIG. 1 , robotic system 110 is positioned proximate the lower torso of patient 130 and robotic arm 112 is actuated to engage and position medical instrument 120 for access to a point of entry (such as the urethra of patient 130 ) . With the robotic system 110 properly positioned, the robotic arm 112 may be used to robotically insert the medical device 120 into the patient 130, manually by the physician 160, or a combination of the two.

The robotic system 110 may also include a base 114 coupled to the one or more robotic arms 112 . Base 114 may include various subsystems, such as control electronics, power supplies, pneumatics, light sources, actuators (eg, motors for moving robotic arms), control circuitry, memory, and/or communication interfaces. In some embodiments, base 114 includes an input/output (I/O) device 116 configured to receive input (such as user input for controlling robotic system 110 ) and provide output (such as patient status, location of medical devices, etc.). I/O device 116 may include a controller, mouse, keyboard, microphone, touchpad, other input device, or a combination of the foregoing. I/O devices may include output components such as speakers, displays, haptic feedback devices, other output devices, or a combination of the foregoing. In some embodiments, the robotic system 110 is movable (eg, the base 114 includes wheels) such that the robotic system 110 can be positioned in a location suitable or desired for the procedure. In other embodiments, the robotic system 110 is a stationary system. Additionally, in some embodiments, robotic system 110 is integrated into workbench 150 .

Robotic system 110 may be coupled to any component of medical system 100 , such as control system 140 , table 150 , imaging sensors 180 , and/or medical instrument 120 . In some embodiments, the robotic system is communicatively coupled to the control system 140 . In one example, the robotic system 110 may receive control signals from the control system 140 to perform operations, such as positioning the robotic arm 112 in a particular manner, manipulating a sight glass, and the like. In response, robotic system 110 may control components of robotic system 110 to perform operations. In another example, robotic system 110 may receive an image depicting the internal anatomy of patient 130 from a scope and/or transmit the image to control system 140 (which may then be displayed on control system 140). Additionally, in some embodiments, robotic system 110 is coupled to components of medical system 100, such as control system 140, to receive data signals, power, and the like. Other devices (such as other medical devices, IV bags, blood packs, etc.) may also be coupled to robotic system 110 or other components of medical system 100, depending on the medical procedure being performed.

Control system 140 may be configured to provide various functions to assist in performing medical procedures. In some embodiments, the control system 140 may be coupled to and operate in cooperation with the robotic system 110 to perform medical procedures on the patient 130 . For example, the control system 140 may communicate with the robotic system 110 via a wireless or wired connection (eg, to control the robotic system 110, the basket retrieval device 120, receive images captured by the scope, etc.), control fluid via one or more fluid channels Flow through the robotic system 110, power is provided to the robotic system 110 via one or more electrical connections, optical signals are provided to the robotic system 110 via one or more optical fibers or other components, and the like. Additionally, in some embodiments, the control system 140 may communicate with the sight glass to receive sensor data. Additionally, in some embodiments, the control system 140 may communicate with the table 150 to position the table 150 in a particular orientation or otherwise control the table 150 .

As shown in FIG. 1, control system 140 includes various I/O devices configured to assist physician 160 or others in performing medical procedures. In some embodiments, the control system 140 includes an input device 146 employed by the physician 160 or another user to control the basket retrieval device 120 . For example, input device 146 may be used to navigate basket retrieval device 120 within patient 130 . Physician 160 may provide input via input device 146 , and in response, control system 140 may send control signals to robotic system 110 to manipulate medical instrument 120 .

Although input device 146 is shown in the example of FIG. 1 as a controller, input device 146 may be implemented as various types of I/O devices, such as a touch screen/touchpad, mouse, keyboard, microphone, smart speaker, and the like. 1, the control system 140 may include a display 142 to provide various information regarding the procedure. For example, the control system 140 may receive real-time images captured by the sight glass and display the real-time images via the display 142 . Additionally or alternatively, control system 140 may receive signals (eg, analog signals, digital signals, electrical signals, acoustic/acoustic signals, pneumatic signals, haptic signals) from medical monitors and/or sensors associated with patient 130 signals, hydraulic signals, etc.), and the display 142 may present information regarding the health of the patient 130 and/or the environment of the patient 130 . Such information may include information displayed via medical monitors including, for example, heart rate (eg, electrocardiogram (ECG), heart rate variability (HRV), etc.), blood pressure/rate, muscle biosignals (eg, electromyogram (EMG)) , body temperature, oxygen saturation (eg, SpO ₂ ), carbon dioxide (CO ₂ ), brain waves (eg, electroencephalogram (EEG)), ambient temperature, and the like.

In some embodiments, the input device 146 is configured to directly control movement of the basket retrieval device 120, as well as trigger pre-programmed movements. In one embodiment, direct control involves movement that continues as long as the user provides valid input (eg, by pushing a joystick or actuating button up or down). Direct control may include movement along one or more axes, such as insertion/retraction, clockwise/counterclockwise rotation, left/right movement, and/or up/down movement. Preprogrammed movements may include quick openings, quick closings, shaking, or other predefined movements that are triggered by commands but do not require continuous input from the user. By using pre-programmed movements, operation of the basket retrieval device is simplified as complex movements can be initiated by simplified commands. For example, a coordinated action between physician 160 and an assistant is not required to close the basket over the stone, but a quick closing action can be triggered by a single user using a simplified command (eg, pressing a button or double-tapping a button).

Fast opening opens the basket at a faster rate than the regular speed opening of the basket. In some scenarios, the user may use the quick open to quickly open the basket in preparation for capturing the stone, and may also be used to release the stone. In one embodiment, rule opening is directly controlled by the user. For example, the basket drive mechanism may open the basket as long as the button is pressed, but stop when the button is released or when a torque threshold level is reached, which typically indicates that the basket is fully open. This provides finer control over the basket mechanism. Meanwhile, in certain embodiments, the quick open is preprogrammed to complete a series of actions when triggered, wherein the drive mechanism engages the basket to open until a threshold torque level is reached or a new command (eg, a button press) is received. When combined, regular open and quick open provide users with greater control and flexibility during medical procedures, with regular open when finer control is required and quick open when speed and/or timing are more important .

Contrary to the basket's regular speed closing, a quick closing closes the basket at a faster rate. In some scenarios, the user may use the quick-close to quickly grasp the stone, and also to quickly close the basket when not in use. In one embodiment, rule closing is directly controlled by the user. For example, the basket's drive mechanism may close the basket as long as the button is pressed, but stop when the button is released or when a torque threshold level is reached, which typically indicates that the basket is fully closed or stones are trapped. This provides finer control over the basket mechanism. Meanwhile, in certain embodiments, the quick shutdown is preprogrammed to complete a series of actions when triggered, wherein the drive mechanism engages the basket to close until a threshold torque level is reached or a new command (eg, a button press) is received. When combined, Rule Off and Quick Off provide users with greater control and flexibility during medical procedures, with Rule Off when finer control is required and Quick Off when speed and/or timing are more important .

In one embodiment, the shaking motion of the basket retrieval device can be triggered by pressing and holding two buttons on the input device 146 simultaneously. Other implementations may trigger the shaking action through other button presses, touchscreen selections, voice commands, and/or other user input. In some embodiments, the rocking motion is a pre-programmed motion in which the basket retrieval device is inserted forward and retracted backward so that the basket travels a fixed amount at a higher speed than normal basket insertion speed. For example, during direct control, the basket retractor may move at normal speed (1x speed) (eg, insertion/retraction), while during pre-programmed motion the basket retractor may be accelerated (eg, 1.5x, 2x, 3x, etc.) move. This high frequency dynamic movement can be used to shake off tissue adhering to the basket, to shake off the stone during stone release, and/or to break up stone blockages.

In some embodiments, the shaking motion includes variable movement. For example, a user may use a directly controlled movement to move the basket retrieval device from a first position where the shaking motion is being performed to a second position to continue performing the shaking motion. In this scenario, pre-programmed movements are combined with directly controlled movements. The variable rocking motion can be used to adjust stone position to address stone stuck issues. In one embodiment, the variable shake action is triggered by simultaneously holding down the first button and the second button, while moving the joystick to provide direction of movement (eg, insert/retract). When the user presses the first and second buttons, the basket will rock back and forth a fixed amount. If the user then uses the joystick to insert or retract while holding both buttons, the basket can move to a new position. When the user lets go of the insertion joystick, the basket will return to shaking mode, with its trajectory moving to the new position indicated by the user. For variable rocking mode, the user may first rock to loosen or rotate the stone, then insert or retract to adjust the rocking position based on, for example, visual feedback received from a scope or imaging sensor 180, and then continue the rocking motion until the stone is repositioned to the desired location.

FIG. 1 also illustrates various anatomical structures of patient 130 relevant to certain aspects of the present disclosure. Specifically, patient 130 includes kidneys 170 fluidly connected to bladder 171 via ureters 172 , and urethra 173 fluidly connected to bladder 171 . As shown in the enlarged view of kidney 170, the kidney includes calyx 174 (including the major and minor calyx), renal papilla (including renal papilla 176, also referred to as "papilla 176"), and renal pyramids (including renal pyramid 178). In these examples, kidney stone 165 is located near nipple 176 . However, kidney stones can be located elsewhere within kidney 170 .

As shown in FIG. 1 , to remove kidney stones 165 in an exemplary minimally invasive procedure, physician 160 may position robotic system 110 at the foot of table 150 to initiate delivery of medical device 120 into patient 130 . Specifically, the robotic system 110 may be positioned near the lower abdominal region of the patient 130 and aligned for direct linear access to the urethra 173 of the patient 130 . Robotic arm 112 (B) can be controlled from the bottom of table 150 to provide access to urethra 173 . In this example, physician 160 inserts medical instrument 120 at least partially into the urethra along this direct linear access path (sometimes referred to as a "virtual track"). Medical device 120 may include a lumen configured to receive a scope and/or basket retrieval device, thereby facilitating insertion of these devices into the anatomy of patient 130 .

Once the robotic system 110 is properly positioned and/or the medical device 120 is at least partially inserted into the urethra 173, the scope may be inserted into the patient 130 robotically, manually, or a combination of the two. For example, physician 160 may connect medical instrument 120 to robotic arm 112 (C). Physician 160 may then interact with control system 140 , such as input device 146 , to navigate medical device 120 within patient 130 . For example, physician 160 may provide input via input device 146 to control robotic arm 112(C) to navigate basket retrieval device 120 through urethra 173 , bladder 171 , ureter 172 , and up to kidney 170 .

Control system 140 may include various components (sometimes referred to as "subsystems") to facilitate its functions. For example, control system 140 may include various subsystems, such as control electronics, power supplies, pneumatics, light sources, actuators, control circuits, memory, and/or communication interfaces. In some embodiments, control system 140 includes a computer-based control system that stores executable instructions that, when executed, implement various operations. In some embodiments, the control system 140 is movable, as shown in FIG. 1 , while in other embodiments, the control system 140 is a fixed system. Although various functions and components are discussed as implemented by control system 140, any of these functions and/or components may be integrated into and/or implemented by other systems and/or devices. A device executes, such as robotic system 110 and/or workbench 150 .

Medical system 100 may provide a variety of benefits, such as providing guidance to assist physicians in performing procedures (eg, instrument tracking, patient status, etc.), enabling physicians to perform procedures from an ergonomic position without awkward arm movements and/or positions, enabling A single physician can perform the procedure using one or more medical instruments, avoiding radiation exposure (eg, associated with fluoroscopy techniques), enabling the procedure to be performed in a single surgical setting, providing continuous suction for more efficient removal of the axis ( For example, removing kidney stones) etc. Additionally, the medical system 100 may provide non-radiation-based navigation and/or positioning techniques to reduce physician exposure to radiation and/or reduce the amount of equipment in the operating room. Additionally, the medical system 100 may divide functionality into a control system 140 and a robotic system 110, each of which may move independently. Such partitioning of functionality and/or mobility may enable control system 140 and/or robotic system 110 to be placed at a location that is optimal for a particular medical procedure, which may maximize the work area around the patient and/or perform for physicians Procedures provide the best location. For example, many aspects of the procedure may be performed by the robotic system 110 (which may be positioned relatively close to the patient), while the physician manages the procedure from the comfort of the control system 140 (which may be positioned further away).

In some embodiments, control system 140 can function even if located in a different geographic location than robotic system 110 . For example, in a telemedicine implementation, the control system 140 is configured to communicate with the robotic system 110 over a wide area network. In one scenario, physician 160 may be located at one hospital with control system 140, while robotic system 110 is located at a different hospital. The physician can then perform the medical procedure remotely. This may be beneficial if remote hospitals (such as those in rural areas) have limited expertise in specific protocols. These hospitals can then rely on more experienced physicians elsewhere. In some embodiments, the control system 140 is capable of pairing with various robotic systems 110, eg, by selecting a particular robotic system and forming a secure network connection (eg, using passwords, encryption, authentication tokens, etc.). Thus, a physician at one location can perform medical procedures at various different locations by establishing a connection with the robotic system 110 at each of these different locations.

In some embodiments, robotic system 110, table 150, medical device 120, needle and/or imaging sensor 180 are communicatively coupled to each other via a network, which may include a wireless network and/or a wired network. Exemplary networks include one or more Personal Area Networks (PANs), one or more Local Area Networks (LANs), one or more Wide Area Networks (WANs), one or more Internet Area Networks (IANs), one or more cellular networks , Internet, etc. Additionally, in some embodiments, control system 140, robotic system 110, table 150, medical device 120, and/or imaging sensor 180 are connected via one or more support cables for communication, fluid/gas exchange, power exchange, and the like.

Although not shown in FIG. 1 , in some embodiments, the medical system 100 includes and/or is associated with a medical monitor configured to monitor the health of the patient 130 and/or the conditions of the patient 130 . environment. For example, the medical monitor may be located in the same environment in which the medical system 100 is located, such as an operating room. The medical monitor may be physically and/or electrically coupled to one or more sensors configured to detect or determine one or more physical, physiological, chemical associated with the patient 130 and/or the environment and/or biological signals, parameters, properties, states and/or conditions. For example, one or more sensors may be configured to determine/detect any type of physical property, including temperature, pressure, vibration, haptic/tactile characteristics, sound, optical levels or properties, load or weight, flow rate (eg , flow rate of target gas and/or liquid), amplitude, phase and/or orientation of magnetic and electric fields, concentration of constituents associated with matter in gas, liquid or solid form, etc. One or more sensors can provide sensor data to the medical monitor, and the medical monitor can present information about the health of the patient 130 and/or the environment of the patient 130 . Such information may include information displayed via medical monitors including, for example, heart rate (eg, ECG, HRV, etc.), blood pressure/rate, muscle biosignals (eg, EMG), body temperature, oxygen saturation (eg, _SpO2 ), _CO2 , brain waves (eg, EEG), ambient temperature, etc. In some embodiments, a medical monitor and/or one or more sensors are coupled to control system 140 and control system 140 is configured to provide information about the health of patient 130 and/or the environment of patient 130 .

Exemplary Controller

2A and 2B illustrate a perspective view and a top profile view, respectively, of the controller 200 of the control system 140 according to certain embodiments. As depicted in FIG. 1 , in some embodiments, input device 146 is or includes controller 200 . The face of the controller may include axis movement inputs such as one or more joysticks 205 , 215 and one or more directional pads 210 . In some embodiments, joysticks 205, 215 provide analog input, while directional pad 210 provides digital input. The face of the controller may also include a number of buttons 220 to provide additional control. In the example shown in Figure 2B, the controller 200 includes four buttons on the top side of the controller: R1 225, R2, 230L1 235, and L2 240. Other embodiments may include different numbers of buttons and/or different layouts. In some embodiments, controller 200 may be a game console controller repurposed to work with robotic system 110 . For example, controller game firmware can be overridden by medical device firmware and/or an input device manager can be installed in a component of medical system 100 (eg, control system 140 ) to translate input from the controller into something that robotic system 110 can understand input of.

In one embodiment, a double-tap on the side top bottom right button (R2 225) can trigger a quick open, and a double tap on the side top bottom left button (L2 240) can trigger a quick close. The user can double-tap to quickly open the basket, and double-tap to quickly close the basket. The double-tap operation enables the user to easily access pre-programmed commands using the top two buttons (R2, L2). Meanwhile, other inputs on the controller may be used for other functions, including controlling other medical instruments, such as inserting a scope, articulating a scope, and/or inserting a basket. These other functions can be triggered simultaneously or independently of pre-programmed motions. Obviously, other embodiments may configure the controller differently. For example, other buttons and/or other interactions (eg, using a single click, double click, pressing and holding a button, etc.) may be used to trigger quick open/close. In one embodiment, the button mapping is toggled where the L2 button triggers a quick open and the R2 button 225 triggers a quick close.

In one embodiment, the rocking motion of the basket retrieval device can be triggered by simultaneously pressing and holding both the top lower right button (R2 225) and the top lower left button (L224). By requiring both buttons to be pressed, the buttons for quick open and quick close (R2/L2) can serve dual purpose, allowing more commands to be mapped to controller 200 inputs. In one embodiment, the R2 and L2 buttons have a triple purpose, clicking the R2 and L2 buttons, respectively, each triggers another action. For example, a single tap on R2 can trigger the regular velocity of the basket to open, while a single stroke of L2 can trigger the regular velocity of the basket to close, and vice versa. Other embodiments may trigger the shaking motion by other button presses.

As depicted in FIG. 1, the shaking motion may include variable movement. In one embodiment, the first joystick 205 may be configured to directly control the insertion and retraction movements of the basket retrieval device 120 . While holding down R2 and L2 to trigger the shaking motion, the user can move the joystick 205 up to further insert the basket retrieval device 120 into a new location within the patient. Alternatively, the user may move the joystick 205 downward to retract the basket retrieval device 120 to a new position toward the body entry point. Once the user releases the joystick 205 (while still holding down R2 and L2), the panning motion can continue the trajectory at the new location. Obviously, insertion and retraction can be mapped to other controller inputs, such as the second joystick 215 or the directional pad 210 .

In some embodiments, the operation of controller 200 may be customizable. Control system 140 may include a user interface that allows the user to assign pre-programmed movements (eg, quick open/close, shake, etc.) to a desired controller layout. For example, a user may assign a quick open or a quick close to any of the top button 220 , the directional pad 210 , or one of the joysticks 205 , 215 .

In some embodiments, triggering the preprogrammed movement can be at least partially automated. Machine learning or computer vision algorithms can be implemented to recognize when the basket retrieval device 120 is in the correct position to perform the pre-programmed motion. For example, the medical system 100, using its imaging sensor 180, speculum, or other sensing device, may recognize that the basket is sufficiently close to the urethral stone 165 that a rapid opening may be triggered to capture the device. Once the threshold distance is reached, a quick open can be triggered to quickly open the basket. Other pre-programmed movements can also be linked with Quick Open. For example, after opening the basket, a pre-programmed action can be triggered to further insert the basket retrieval device 120 so that the urethral stone is surrounded by the basket ("forward insertion" pre-programmed action). Next, a quick closure can be automatically triggered to capture urethral stones 165 .

As a safety precaution, pre-programmed movements can be configured to trigger automatically only in certain modes that allow automatic movements ("auto-capture" modes). This automatic capture mode may be enabled using one of a button or other input on the controller 200 or via a menu setting in the control system 140 interface. In one scenario, the physician 160 moves the basket retrieval device 120 into the correct position proximate the urethral stone 165 using directly controlled movements. The physician can then enable the automatic capture mode. If the stone is close enough to meet or exceed the distance threshold, the automatic capture of pre-programmed movements (eg, rapid opening, forward insertion, and/or rapid closing) is automatically triggered. If the distance is greater than the distance threshold, the physician may further adjust the position of the basket retrieval device 120 until the automatic capture of the preprogrammed movement is triggered.

Although FIGS. 2A-2B have shown one embodiment of the controller 200 , other types of controllers or other input devices may also be used with the control system 140 . For example, input device 146 for controlling system 140 may be wireless (eg, Wi-Fi, Bluetooth, etc.) or wired (eg, universal serial bus (USB)). In another example, the input device 146 may be a graphical user interface (GUI) implemented on a touch screen device, such as a tablet computer or smartphone. In one example, the controller may be a smart speaker with a built-in microphone to receive voice commands. In another example, the input device 146 may be a controller for a virtual reality or augmented reality system.

urethral stone capture

3A-3C illustrate a urethral stone capture procedure according to certain embodiments. In these examples, medical system 100 is deployed in an operating room to remove kidney stones from patient 130 . In many instances of this procedure, patient 130 is positioned in a modified supine position with patient 130 tilted slightly to one side to access the back or side of patient 130 . As shown in Figure 1, the urethral stone capture procedure can also be performed with the patient in a normal supine position. 3A-3C illustrate the use of medical system 100 to perform a minimally invasive procedure to remove kidney stones from patient 130, medical system 100 may be used to remove kidney stones in other ways and/or perform other procedures. Additionally, the patient 130 may be placed in other locations as required by the procedure. Various actions performed by physician 160 are described in FIGS. 3A-3C and throughout the disclosure. It should be understood that these actions may be performed by physician 160 directly, by a physician indirectly via medical system 100, by a user under the direction of a physician, by another user (eg, a technician), and/or by any other user.

Although particular robotic arms of robotic system 110 are shown performing particular functions in the context of FIGS. 3A-3C, any robotic arm 112 may be used to perform those functions. Furthermore, any additional robotic arms and/or systems may be used to perform the procedure. Additionally, the robotic system 110 may be used to perform other parts of the procedure.

At block 305 , the basket retrieval device 120 is maneuvered into the kidney 170 to access the urethral stone 165 . In some cases, the physician 160 or other user uses the input device 146 to directly control the movement of the basket retrieval device 120 . Such directly controlled movement may include insertion/retraction, bending of the basket retrieval device 120 to the left or right, rotation, and/or regular opening/closing of the basket. Using various movements, the basket retrieval device 120 is placed near the stone.

At block 310, a preprogrammed movement of a quick-open is triggered in response to user input (eg, double-clicking the button). A rapid opening causes the baskets of the basket retrieval device 120 to open at an accelerated rate. The use of a quick opening allows the basket retrieval device 120 to be brought into position more quickly to capture urethral stones 165, thereby reducing extraneous movement (eg, through the basket retrieval device or due to re/circulation/urine flow movement within the kidney) to the basket retrieval device. Opportunity for the recovery device 120 to move out of position. The quick open movement can be triggered by double-tapping the controller 200 button, using a different input on the controller, or by using another type of input device, such as a voice command.

In some embodiments, a laser, shock wave device, or other device is used to break up the stone. The laser or other device may be incorporated into the basket retrieval device 120, or may be a separate medical device. The device for breaking up the stone may also be controlled by the same input device (eg, controller 200 ) that triggers the quick-open, quick-close, and/or shaking motions. In some cases, the stone 165 is small enough that it does not need to be broken into smaller pieces. In those cases, block 315 may be skipped and the process may proceed to block 320.

Optionally, at block 315, a pre-programmed rocking motion is triggered to help clear the stone blockage or otherwise move the stone. For example, if the urethral stone 165 is broken into smaller pieces as described above, a rocking motion may be used to separate the stone. The rocking motion may be a pre-programmed motion in which the basket retrieval device is inserted forward and retracted backward so that the basket travels a fixed amount faster than normal basket insertion speed. The preprogrammed shaking motion may be triggered by pressing both buttons of the controller 200 simultaneously, using a different input on the controller, or by using another type of input device, such as a voice command.

At block 320, the open basket is manipulated to enclose the urethral stone 165 or smaller fragments of the urethral stone. In some scenarios, maneuvering is accomplished by direct control of movement by physician 160 of basket retrieval device 120 . In some embodiments, a pre-programmed motion of forward insertion can be used to surround the stone with the basket. For example, if the basket is formed from wire, the forward insertion movement may include forward movement, optionally with a slight lateral offset to one side, to avoid the wire forming the distal end of the basket from hitting the stone. Once the stone has passed the distal end, an optional lateral motion opposite the first lateral deflection motion can be applied to the basket to center the basket around the stone. In other embodiments, such as for baskets formed from multiple tines, insertion of the basket is coordinated with the closing tines so that the basket is longitudinally centered around the stone and avoids moving the stone during closure of the basket.

The forward insertion movement may be triggered by using input on the controller 200 or by using another type of input device, such as a voice command. Although the pre-programmed forward insertion movement has been described above, the user may also perform this movement using directly controlled movement to enclose the urethral stone.

At block 325, the quick-close programmed movement is triggered in response to user input (eg, double-clicking the button). The rapid closing causes the baskets of the basket retrieval device 120 to close at an accelerated rate. The closing motion may continue until the basket is fully closed and/or the threshold torque is reached. When the drive mechanism of the basket reaches a torque threshold, this may indicate that the basket has closed over the stone, which prevents further closure of the basket. Limiting the torque protects the basket from any damage caused by the increased stress/force applied during closing. Using a quick close allows the basket retrieval device 120 to capture urethral stones 165 more quickly, thereby reducing the chance of foreign movement (eg, movement of the patient or the basket retrieval device 120) moving the basket retrieval device 120 out of position. The quick close movement can be triggered by double-tapping the controller 200 button, using a different input on the controller, or by using another type of input device, such as a voice command. Optionally, a rocking motion can be triggered to help adjust the position of the stone 165 for easier removal of the stone from the kidney.

At block 330, the basket retrieval device 120 is removed from the kidney 170 and then removed from the patient's body. Once the basket retrieval device 120 is outside the patient's body, a quick opening movement can optionally be triggered to quickly release the captured stone.

If additional stones (or large fragments of broken stones 165) are present, the basket retrieval device 120 can be reinserted into the patient to capture the remaining large fragments. In some embodiments, a vacuum instrument can be used to facilitate removal of debris. In some cases, the stones may be small enough that the patient can pass them naturally.

Exemplary Basket Recovery Unit

FIG. 4A shows a basket recovery apparatus 120 according to certain embodiments. The basket retrieval device 120 may include a basket 405 formed on the distal side, a handle 410 on the proximal side, a sheath 415 between the basket and the handle, and a basket drive mechanism 420 . Baskets can be formed in a number of ways to capture urethral stones. In some embodiments, the basket is formed from two or more wire loops 425 that expand to form a space into which the stone is manipulated and which contracts around the stone to capture the stone. As shown in Figure 4B, the wires can be configured to form various shapes, such as balls, teardrops, spirals, bowls, and the like. In other embodiments, the basket consists of two substantially oval or circular bowls with recesses in the bowls facing each other to form a hollow area for placement of urethral stones. In some embodiments, the basket is formed from a plurality of tines that are configured to close around the stone. Baskets can be made of various materials such as nitinol, nickel, titanium, steel, cobalt-chromium alloys, other types of metals, ceramics, polymers such as plastics, or combinations thereof.

The handle 410 of the basket retrieval device 120 may be operated by a user or a robot. In some embodiments, the basket drive mechanism 420 is built into the handle. For example, engaging the driver through a sliding or twisting motion may cause the basket to open or close. In one embodiment, engaging the driver to the open position causes the basket wire to extend from the sheath to the open basket position. Engaging the driver in the closed position may cause the basket wires to retract toward the sheath, causing the basket to collapse. If the urolith is in the basket, the stone is captured by closing the basket wire.

A scope (not shown), which may be part of or may be used in conjunction with basket retrieval device 120, may be configured to navigate within human anatomy, such as in natural orifices of human anatomy or Intraluminal Navigation. For example, the scope may include a channel through which the distal portion of the basket retrieval device 120 may be inserted. For example, endoscopes may include ureteroscopes (eg, for accessing the urinary tract), laparoscopes, nephroscopes (eg, for accessing the kidneys), bronchoscopes (eg, for accessing airways, such as bronchi), colonoscopes (eg, for accessing the airways, such as bronchi), For example, for accessing the colon), arthroscopy (eg, for accessing a joint), cystoscopy (eg, for accessing the bladder), and the like. The scope may also be articulatable (such as the distal end of the scope) so that the scope may be manipulated within human anatomy. The sight glass can include telescoping features, such as an inner guide portion and an outer sheath portion, that can be manipulated to telescopically extend the sight glass. In some embodiments, the scope includes a working channel for deploying medical instruments (eg, lithotripsy, basket device, forceps, etc.), irrigation, and/or suction to the distal end of the scope the surgical area. The scope can accommodate wires and/or optical fibers to transmit signals to/from the optical assembly and the distal end of the scope, which can include an imaging device, such as optical cameras. The scope may also accommodate optical fibers to transmit light from a closely positioned light source, such as a light emitting diode, to the distal end of the scope. The distal end of the scope may also include an opening for a working channel to deliver tools, irrigation, and/or suction to the surgical site. The distal end of the scope may also include a port for an imaging device, such as a camera, that may be configured to capture images of the internal anatomical space. The distal end of the scope may include a port for a light source to illuminate the anatomical space when the imaging device is used. In some embodiments, the sight glass is configured to be controlled by the robotic system 110 . The sight glass may include components that interface with the robotic system 110 .

Exemplary Pre-Programmed Moves

FIG. 5 is a flow diagram of a preprogrammed quick open process 500 according to certain embodiments. The quick opening process 500 may be performed by the robotic system 110 or another component of the medical system 100 of FIG. 1 . For example, the robotic system 110 may use one or more of its arms to maneuver the basket retrieval device 120 . Process 500 may be performed according to input provided by a user (eg, a physician), or may be at least partially automated. Although one possible sequence of the process is described below, other embodiments may perform the process in a different order.

At block 505 , the control system 140 of the robotic system 110 receives a first user input from the input device 146 . For example, the input can be a double-tap button, a voice command, or other input. In one embodiment, the first input is a double-click on the first button on the controller 200 of Figures 2A-2B.

At block 510, the robotic system 110 engages the basket drive mechanism to open the baskets 405 of the basket retrieval device 120 at an accelerated speed. In some embodiments, the basket drive mechanism 420 is configured to operate at at least two speeds: a first speed that corresponds to the regular opening speed of the basket and a second speed that is faster than the first speed. In one embodiment, a regular opening speed is used when the basket is opened using directly controlled movements rather than pre-programmed movements.

At block 515 , a torque sensor, which may be located in the basket retrieval device 120 or the robotic arm 112 , determines the torque applied to the basket 405 by the basket drive mechanism 420 . If the torque reaches or exceeds the torque limit configured for the robotic system 110, the drive mechanism disengages. For example, if there is tissue preventing the basket from opening, the torque limit may be reached. If the torque limit is reached, process 500 proceeds to block 520 . Otherwise, process 500 proceeds to block 525.

At block 520, the torque limit is reached and the drive mechanism is disengaged. The additional movement may damage the basket 405 or surrounding tissue because there is something preventing the basket from opening further.

At block 525, the quick open movement is completed. The basket 405 may be fully open (eg, as indicated by drive mechanism torque) or otherwise reach a desired open configuration. For example, the quick opening movement may be configured to stop at 50%, 60%, 70%, 80%, 90%, 100%, or other amounts of full opening of the basket. In one embodiment, the target opening of the basket is set based on the size of the detected urethral stone.

FIG. 6 is a flow diagram of a preprogrammed quick shutdown process 600 in accordance with certain embodiments. The quick shutdown process 600 may be performed by the robotic system 110 or another component of the medical system 100 . For example, the robotic system 110 may use one or more of its arms to maneuver the basket retrieval device 120 . Process 600 may be performed based on input provided by a user (eg, a physician), or may be at least partially automated. Although one possible sequence of the process is described below, other embodiments may perform the process in a different order.

At block 605 , the control system 140 of the robotic system 110 receives a second user input from the input device 146 . For example, the input can be a double-tap button, a voice command, or other input. In one embodiment, the second input is a double-click on the second button on the controller 200 of Figures 2A-2B.

At block 610, the robotic system 110 engages the basket drive mechanism to close the baskets 405 of the basket retrieval device 120 at an accelerated speed. In some embodiments, the basket drive mechanism 420 is configured to operate at at least two speeds: a first speed that corresponds to the regular closing speed of the basket and a second speed that is faster than the first speed. In one embodiment, a regular closing speed is used when the basket is closed using a directly controlled movement rather than a pre-programmed movement.

At block 615 , the torque sensor determines the torque applied to the basket 405 by the basket drive mechanism 420 . If the torque reaches or exceeds the torque limit configured for the robotic system 110, the drive mechanism disengages. For example, the torque limit may be reached if there is tissue or urethral stones preventing the basket from closing. If the torque limit is reached, process 600 proceeds to block 620 . Otherwise, process 600 proceeds to block 625.

At block 620, the torque limit is reached and the drive mechanism is disengaged. The additional movement may damage the basket 405 or surrounding tissue because there is something preventing the basket from closing further.

At block 625, the quick close movement is completed. Basket 405 may be fully closed (eg, as indicated by drive mechanism torque) or otherwise achieve a desired closed configuration. For example, the quick closing movement may be configured to stop at 50%, 60%, 70%, 80%, 90%, 100%, or other amounts of the basket fully closed. In one embodiment, the target closing amount of the basket is set based on the size of the detected urethral stone 165 . For example, if the urethral stone is large, the basket may close only a small portion before touching or surrounding the urethral stone.

FIG. 7 is a flowchart of a preprogrammed shaking motion process 700 according to certain embodiments. The shaking process 700 may be performed by the robotic system 110 or another component of the medical system 100 . For example, the robotic system 110 may use one or more of its arms to maneuver the basket retrieval device 120 . Process 700 may be performed based on input provided by a user (eg, a physician), or may be at least partially automated. Although one possible sequence of the process is described below, other embodiments may perform the process in a different order.

At block 705 , the control system 140 of the robotic system 110 receives a third user input from the input device 146 . For example, the input may be a press and hold of one or more buttons, a double tap of a button, a voice command, or other input. In one embodiment, the third input is holding down the first button (associated with quick open) and the second button (associated with quick close) of the controller 200 of Figures 2A-2B.

At block 710, the robotic system 110 induces a short forward and backward movement of the basket at an accelerated speed. For example, the basket can be moved back and forth a few millimeters. In some cases, the basket can move several centimeters. In some embodiments, the basket drive mechanism 420 is configured to operate the basket at at least two speeds: a first speed that corresponds to a regular speed of movement of the basket and a second speed that is faster than the first speed. In one embodiment, regular movement speeds are used when the basket is moved using directly controlled movements rather than pre-programmed movements.

At block 715, the control system 140 receives a fourth user input corresponding to the movement input while receiving the third user input. In one embodiment, the fourth input is movement of the joystick of the controller 200 along an axis (eg, forward or backward). For example, the physician 160 may move the joystick while holding down the first button and the second button.

At block 720, the robotic system 110 moves the basket to a new position based on the fourth input. For example, if the joystick is moved up, the basket is further inserted into the patient. If the joystick is moved rearward, the basket is retracted toward the proximal end of the basket retrieval device 120 .

At block 725, the robotic system 110 continues to move the basket forward and backward a short distance at the new location. The trajectory or center of the movement is the new position.

At block 730, if the third input has ceased (eg, the physician 160 has released the first and second buttons), the process 700 proceeds to block 735 and the shaking motion ceases. If the third input is still in progress, process 700 proceeds to block 725 and robotic system 110 continues forward and backward movement of the basket. In other embodiments, the shaking motion ceases in response to other inputs after a certain amount of time has elapsed, or after a certain amount of movement repetitions have been completed.

Exemplary Robotic System

FIG. 8 shows exemplary details of a robotic system 110 in accordance with one or more embodiments. In this example, robotic system 110 is shown as a mobile cart-based robotic-enabled system. However, the robotic system 110 may be implemented as a stationary system, integrated into a workbench, or the like.

The robotic system 110 may include a support structure 114 including an elongated section 114(A) (sometimes referred to as "post 114(A)") and a base 114(B). Column 114(A) may include one or more brackets, such as brackets 1102 (alternatively referred to as "arm supports 1102"), for supporting one or more robotic arms 112 (three are shown in FIG. 8 ). a) expansion. The cradle 1102 may include individually configurable arm mounts that rotate along a vertical axis to adjust the base of the robotic arm 112 for positioning relative to the patient. The cradle 1102 also includes a cradle interface 1104 that allows the cradle 1102 to translate vertically along the column 114(A). The cradle interface 1104 is connected to the post 114(A) by slots, such as slot 1106 , which are positioned on opposite sides of the post 114(A) to guide vertical translation of the cradle 1102 . Slot 1106 includes a vertical translation interface to position and hold bracket 1102 at various vertical heights relative to base 114(B). Vertical translation of the cradle 1102 allows the robotic system 110 to adjust the reach of the robotic arm 112 to meet various table heights, patient sizes, physician preferences, and the like. Similarly, the individually configurable arm mounts on the bracket 1102 allow the robotic arm base 1108 of the robotic arm 112 to be angled in a variety of configurations. Post 114(A) may internally include mechanisms (such as gears and/or motors) designed to mechanically translate carriage 1102 using vertically aligned lead screws in response to control signals that are Generated in response to user input, such as input from I/O device 116 .

In some embodiments, the slot 1106 may be supplemented with a slot cover that is flush and/or parallel to the slot surface to prevent dust and/or fluid from entering the column 114 as the carriage 1102 is translated vertically (A) The inner chamber and/or the vertical translation interface. The slot cover can be unrolled by a pair of spring rolls positioned near the vertical top and bottom of the slot 1106 . As the carriage 1102 translates vertically up and down, the cover can be rolled within the roll until unwound to extend and retract from its rolled state. The spring loading of the spool can provide a force to retract the cover into the spool as the carriage 1102 is translated toward the spool, while also maintaining a tight seal when the carriage 1102 is translated away from the spool. The cover may be attached to the cradle 1102 using, for example, brackets in the cradle interface 1104 to ensure that the cover extends and retracts properly as the cradle 1102 is translated.

Base 114(B) may balance the weight of column 114(A), bracket 1102 and/or arm 112 on a surface such as a floor. Accordingly, base 114(B) may house heavier components, such as one or more electronics, motors, power supplies, etc., as well as components that enable robotic system 110 to move and/or immobilize. For example, base 114(B) may include rollable wheels 1116 (also referred to as "casters 1116") that allow robotic system 110 to move around the room for procedures. Once in place, the casters 1116 may be secured using wheel locks to hold the robotic system 110 in place during the procedure. As shown, the robotic system 110 also includes a handle 1118 to assist in manipulating and/or stabilizing the robotic system 110 .

The robotic arm 112 may generally include a robotic arm base 1108 and an end effector 1110 separated by a series of links 1112 connected by a series of joints 1114 . Each joint 1114 may include an independent actuator, and each actuator may include an independently controllable motor. Each independently controllable joint 1114 represents an independent degree of freedom available to the robotic arm 112 . For example, each arm 112 may have seven joints, thereby providing seven degrees of freedom. However, any number of joints can be implemented in any degree of freedom. In an example, multiple joints can create multiple degrees of freedom, allowing for "redundant" degrees of freedom. The redundant degrees of freedom allow the robotic arms 112 to position their respective end effectors 1110 at specific positions, orientations and/or trajectories in space using different link positions and/or joint angles. In some embodiments, the end effector 1110 may be configured to engage and/or control a medical instrument, device, axis, or the like. The freedom of movement of the arm 112 may allow the robotic system 110 to position and/or guide the medical instrument from a desired point in space, and/or allow the physician to move the arm 112 to a clinically advantageous position away from the patient to form a pathway, while avoiding the arm collision.

As shown in FIG. 8 , the robotic system 110 may also include an I/O device 116 . I/O device 116 may include a display, touch screen, touchpad, projector, mouse, keyboard, microphone, speaker, controller, camera (eg, for receiving gesture input), or a device for receiving input and/or providing output Another I/O device. I/O device 116 may be configured to receive touch, voice, gesture, or any other type of input. The I/O devices 116 may be positioned at the vertical ends of the posts 114(A) (eg, at the top of the posts 114(A)) and/or provide a user interface for receiving user input and/or for providing output. For example, I/O device 116 may include a touch screen (eg, a dual-purpose device) to receive input and provide preoperative and/or intraoperative data to a physician. Exemplary preoperative data may include preoperative planning, navigation and/or mapping data obtained from preoperative computed tomography (CT) scans, and/or records obtained from preoperative patient interviews. Exemplary intraoperative data may include optical information provided from tools/instruments, sensors, and/or coordinate information from sensors, as well as important patient statistics such as respiration, heart rate, and/or pulse. The I/O device 116 may be positioned and/or tilted to allow the physician to access the I/O device 116 from various locations, such as the side of the post 114(A) opposite the cradle 1102 . From this position, the physician can view the I/O device 116 , the robotic arm 112 , and/or the patient while operating the I/O device 116 from behind the robotic system 110 .

The robotic system 110 may include various other components. For example, robotic system 110 may include one or more control electronics/circuitry, power supplies, pneumatics, light sources, actuators (eg, motors for moving robotic arms 112), memory, and/or communication interfaces (eg, with to communicate with another device). In some implementations, the memory may store computer-executable instructions that, when executed by the control circuit, cause the control circuit to perform any of the operations discussed herein. For example, the memory may store computer-executable instructions that, when executed by the control circuitry, cause the control circuitry to receive input and/or control signals regarding manipulation of the robotic arm 112 and, in response, control the robotic arm 112 in a particular manner A medical instrument connected to the end effector 1110 is deployed to locate and/or navigate.

In some embodiments, robotic system 110 is configured to engage and/or control medical instruments, such as basket retrieval device 120 . For example, the robotic arm 112 may be configured to control the position, orientation, and/or tip articulation of the scope (eg, the scope's sheath and/or guide). In some embodiments, the robotic arm 112 may be configured/configured to be capable of manipulating the sight glass using an elongated moving member. The elongate moving member may include one or more pull wires (eg, pull wires or push wires), cables, fibers, and/or flexible shafts. To illustrate, the robotic arm 112 may be configured to actuate a plurality of pull wires coupled to the scope to deflect the tip of the scope. The pull wire may comprise any suitable or desired material, such as metallic materials and/or non-metallic materials such as stainless steel, Kevlar, tungsten, carbon fiber, and the like. In some embodiments, the sight glass is configured to exhibit non-linear behavior in response to a force applied by the elongate moving member. The nonlinear behavior can be based on the stiffness and compressibility of the sight glass, as well as the variability in relaxation or stiffness between different elongated moving members.

Exemplary Control System

FIG. 9 shows exemplary details of the control system 140 in accordance with one or more embodiments. As shown, the control system 140 may include one or more of the following components, devices, modules and/or units (referred to herein as "components") individually/individually and/or in combination/collectively: Control circuitry 1202, data storage/memory 1204, one or more communication interfaces 1206, one or more power supply units 1208, one or more I/O components 1210, and/or one or more wheels 1212 (eg, casters or other types of wheels). In some embodiments, the control system 140 may include a housing/housing configured and/or sized to house or contain at least a portion of one or more components of the control system 140 . In this example, the control system 140 is shown as a cart-type system that can move with one or more wheels 1212 . In some cases, one or more of the wheels 1212 may be secured using wheel locks to hold the control system 140 in place after reaching the proper position. However, the control system 140 may be implemented as a stationary system, integrated into another system/device, or the like.

Although certain components of the control system 140 are shown in FIG. 9, it should be understood that additional components not shown may be included in embodiments in accordance with the present disclosure. Additionally, some of the illustrated components may be omitted in some embodiments. Although control circuit 1202 is shown as a separate component in the illustration of FIG. 9 , it should be understood that any or all of the remaining components of control system 140 may be embodied at least partially within control circuit 1202 . That is, the control circuit 1202 may include various devices (active and/or passive), semiconductor materials and/or regions, layers, regions and/or portions thereof, conductors, leads, vias, connections, etc., wherein One or more other components and/or portions thereof of control system 140 may be formed and/or implemented at least in part by such circuit components/devices.

The various components of control system 140 may be electrically and/or communicatively coupled using certain connecting circuits/devices/features, which may or may not be part of control circuit 1202 . For example, the connection features may include one or more printed circuit boards configured to facilitate the mounting and/or interconnection of at least some of the various components/circuits of the control system 140 . In some embodiments, two or more of control circuitry 1202, data storage/memory 1204, communication interface 1206, power supply unit 1208, and/or input/output (I/O) components 1210 may be electrically coupled to each other and and/or communicatively linked.

As shown, the memory 1204 may include an input device manager 1216 and a user interface component 1218 configured to facilitate the various functions discussed herein. In some implementations, input device manager 1216 and/or user interface component 1218 may include one or more instructions executable by control circuit 1202 to perform one or more operations. Although many embodiments are discussed in the context of components 1216-1218 including one or more instructions executable by control circuit 1202, any of components 1216-1218 may be implemented, at least in part, as one or more hardware logic Components, such as one or more Application Specific Integrated Circuits (ASICs), one or more Field Programmable Gate Arrays (FPGAs), one or more Program Specific Standard Products (ASSPs), one or more Complex Programmable Logic Devices (CPLDs) )Wait. Furthermore, although components 1216-1218 are shown as being included within control system 140, any of components 1216-1218 may be implemented at least partially within another device/system, such as robotic system 110, table 150, or another A device/system. Similarly, any other components of control system 140 may be implemented at least partially within another device/system.

Input device manager 1216 may be configured to receive input from input device 146 and translate it into actions executable by robotic system 110 . For example, pre-programmed movements, such as quick open, quick close, and shaking movements, may be stored in the input device manager 1216 . These pre-programmed movements can then be assigned to desired inputs (eg, single or double button presses, voice commands, joystick movements, etc.). In some implementations, the pre-programmed motion is determined by the manufacturer. In other implementations, the user may be able to modify existing pre-programmed movements and/or create new movements.

User interface components 1218 may be configured to facilitate one or more user interfaces (also referred to as "one or more graphical user interfaces (GUIs)"). For example, the user interface component 1218 may generate: a configuration menu for assigning pre-programmed motions to inputs; or a settings menu for enabling certain modes of operation or disabling selected pre-programmed motions under certain circumstances. User interface component 1218 may also provide user interface data 1222 for display to a user.

One or more communication interfaces 1206 may be configured to communicate with one or more devices/sensors/systems. For example, one or more communication interfaces 1206 may send/receive data wirelessly and/or wiredly over a network. A network according to embodiments of the present disclosure may include a local area network (LAN), a wide area network (WAN) (eg, the Internet), a personal area network (PAN), a body area network (BAN), and the like. In some implementations, the one or more communication interfaces 1206 may implement wireless technologies such as Bluetooth, Wi-Fi, Near Field Communication (NFC), and the like.

One or more power supply units 1208 may be configured to manage power to control system 140 (and/or robotic system 110, in some cases). In some embodiments, the one or more power supply units 1208 include one or more batteries, such as lithium-based batteries, lead-acid batteries, alkaline batteries, and/or other types of batteries. That is, one or more power supply units 1208 may include one or more devices and/or circuits configured to provide power sources and/or provide power management functions. Additionally, in some embodiments, the one or more power supply units 1208 include a mains power connector configured to couple to an alternating current (AC) or direct current (DC) mains power source.

One or more of the I/O components 1210 may include various components to receive input and/or provide output for interaction with a user. One or more of the I/O components 1210 may be configured to receive touch, voice, gesture, or any other type of input. In an example, one or more of the I/O components 1210 may be used to provide input regarding control of the device/system to control the robotic system 110, navigate a scope or other medical instrument attached to the robotic system 110, control a workbench 150, control the fluoroscopy device 190 and so on. As shown, one or more I/O components 1210 may include one or more displays 142 (sometimes referred to as "one or more display devices 142") configured to display data. The one or more displays 142 may include one or more liquid crystal displays (LCDs), light emitting diode (LED) displays, organic LED displays, plasma displays, electronic paper displays, and/or any other type of technology. In some embodiments, the one or more displays 142 include one or more touchscreens configured to receive input and/or display data. Additionally, one or more I/O components 1210 may include one or more input devices 146, which may include a touch screen, touch pad, controller, mouse, keyboard, wearable device (eg, optical head-mounted displays), virtual or augmented reality devices (eg, head-mounted displays), etc. Additionally, one or more I/O components 1210 may include: one or more speakers 1226 configured to output sound based on audio signals; and/or one or more microphones 1228 A microphone is configured to receive sound and generate audio signals. In some embodiments, one or more of the I/O components 1210 includes or is implemented as a console.

Although not shown in FIG. 9, the control system 140 may include and/or may control other components, such as one or more pumps, flow meters, valve controllers, and/or fluid access components, to provide access to medical devices (eg, peeping mirrors), devices deployable by medical devices, etc. to provide controlled irrigation and/or suction capabilities. In some embodiments, irrigation and suction capabilities can be delivered directly to the medical device through separate cables. Additionally, the control system 140 may include a voltage and/or surge protector designed to provide filtered and/or protected power to another device, such as the robotic system 110, This avoids placing power transformers and other auxiliary power components in the robotic system 110 , resulting in a smaller, more mobile robotic system 110 .

Control system 140 may also include support equipment for sensors deployed throughout medical system 100 . For example, control system 140 may include optoelectronic equipment for detecting, receiving, and/or processing data received from optical sensors and/or cameras. Such optoelectronic equipment can be used to generate real-time images for display in any number of devices/systems, including display in control system 140 .

In some embodiments, control system 140 may be coupled to robotic system 110 , table 150 , and/or medical instruments (such as scopes and/or basket retrieval device 120 ) through one or more cables or connectors (not shown) ). In some implementations, support functions from the control system 140 may be provided through a single cable, thereby simplifying and eliminating clutter in the operating room. In other implementations, certain functions may be coupled in separate cables and connectors. For example, while power may be provided through a single power cable, support for control, optics, fluidics and/or navigation may be provided through separate cables for control.

The term "control circuit" is used herein in accordance with its broad and ordinary meaning and may refer to one or more processors, processing circuits, processing modules/units, chips, dies (eg, semiconductor dies, which include one or more active devices and/or passive devices and/or connecting circuits), microprocessors, microcontrollers, digital signal processors, microcomputers, central processing units, graphics processing units, field programmable gate arrays, programmable logic A device, state machine (eg, hardware state machine), logic circuit, analog circuit, digital circuit, and/or any device that manipulates signals (analog and/or digital) based on hardcoding of circuits and/or operating instructions. The control circuit may also include one or more memory devices, which may be embodied in a single memory device, multiple memory devices, and/or embedded circuitry of the device. Such data storage devices may include read-only memory, random access memory, volatile memory, non-volatile memory, static memory, dynamic memory, flash memory, cache memory, data storage registers, and/or memory devices that store digital information. any device. It should be noted that in embodiments where the control circuitry includes a hardware state machine (and/or implements a software state machine), analog circuitry, digital circuitry, and/or logic circuitry, the data storage devices/registers storing any associated operating instructions may be Embedded in or out of circuits including state machines, analog circuits, digital circuits, and/or logic circuits.

The term "memory" is used herein in accordance with its broad and ordinary meaning, and may refer to any suitable or desired type of computer-readable medium. For example, a computer-readable medium may include one or more volatile data storage devices, non-volatile data storage devices, removable data storage devices, and/or non-removable data storage devices, using any technology, layout, and/or Data structures/protocol implementations, including any suitable or desired computer readable instructions, data structures, program modules or other types of data.

Computer-readable media that can be implemented in accordance with embodiments of the present disclosure include, but are not limited to, phase change memory, static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or Other Memory Technologies, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage devices, cartridges format tape, magnetic tape, magnetic disk storage, or other magnetic storage, or any other non-transitory medium that can be used to store information for access by a computing device. As used in certain contexts herein, computer-readable media may generally exclude communication media such as modulated data signals and carrier waves. Thus, computer-readable media should generally be understood to refer to non-transitory media.

Additional implementation

Depending on the implementation, certain acts, events, or functions of any process or algorithm described herein may be performed in a different sequence, added, combined, or omitted entirely. Thus, in certain embodiments, not all described acts or events are required for the practice of the process.

Conditional language, such as "may," "could," "may," "could," "for example," etc., as used herein, is intended to be in its ordinary meaning unless specifically stated otherwise or otherwise understood in the context in which it is used , and is generally intended to convey that certain embodiments include certain features, elements, and/or steps while other embodiments exclude certain features, elements, and/or steps. Thus, such conditional language is generally not intended to imply that features, elements, and/or steps are in any way required by one or more embodiments, or that one or more embodiments, with or without author input or Where indicated, logic must be included to determine whether such features, elements and/or steps are included or will be performed in any particular embodiment. The terms "comprising", "including", "having" and the like are synonymous, used in their ordinary sense, and are used inclusively in an open-ended manner and do not exclude additional elements, features, acts, operations, etc. Additionally, the term "or" is used in its inclusive sense (rather than in its exclusive sense) such that when used, for example, to connect a series of elements, the term "or" refers to one, some, or all of the elements of the series. Conjunctive terms such as the phrase "at least one of X, Y, and Z" are understood in the context of common usage to convey that an item, term, element, etc. can be X, Y, or Z unless specifically stated otherwise. Thus, such conjunctions are generally not intended to imply that certain implementations require the presence of at least one of X, at least one of Y, and at least one of Z each.

It should be understood that in the foregoing description of embodiments, various features are sometimes grouped together in a single embodiment, the drawings, or its description in order to simplify the disclosure and to aid in the understanding of one or more of the various inventive aspects. However, the methods of the present disclosure are not to be interpreted as reflecting an intention that any claim require more features than those expressly recited in such claim. Furthermore, any components, features or steps shown and/or described in a particular embodiment herein may be applied to or used with any other embodiment. Furthermore, no component, feature, step or group of components, feature or step is required or essential to each embodiment. Therefore, the scope of what is disclosed herein and claimed below should not be limited by the specific embodiments described above, but should be determined only by a fair reading of the following claims.

It should be understood that certain ordinal terms (eg, "first" or "second") may be provided for ease of reference and do not necessarily imply a physical specificity or order. Thus, as used herein, ordinal terms (eg, "first," "second," "third," etc.) used to modify elements such as structures, components, operations, etc. do not necessarily indicate the priority of the element over any other element rank or order, but often the element can be distinguished from another element with a similar or identical name (but using ordinal terms). Also, as used herein, the indefinite article ("a/an") may mean "one or more" rather than "an." Furthermore, an operation performed "based on" a condition or event may also be performed based on one or more other conditions or events not expressly recited.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which example embodiments belong. It should also be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and should not be interpreted as idealized or overly formal meanings, except in this context explicitly so defined.

Comparative and/or quantitative terms (such as "less," "more," "greater," etc.) are intended to encompass equivalent concepts, unless expressly stated otherwise. For example, "less" can mean not only "less" in the strictest mathematical sense, but also "less than or equal to."

Claims (30)

1. A robotic system for performing a medical procedure, the robotic system comprising:

a robotic manipulator configured to:

manipulating a medical instrument comprising a basket, the medical instrument configured to enter a human anatomy;

opening the basket at a first opening speed and a second opening speed faster than the first opening speed; and

closing the basket at a first closing speed and a second closing speed faster than the first closing speed;

an input device configured to receive one or more user interactions and to cause one or more actions by the robotic manipulator, the one or more actions including at least one of directly controlled movements and preprogrammed movements; and

a control circuit communicatively coupled to the input device and the robotic manipulator and configured to:

triggering a first preprogrammed movement of the robotic manipulator in response to receiving a first user interaction via the input device, the first preprogrammed movement including opening the basket at the second opening speed; and

triggering a second preprogrammed movement of the robotic manipulator in response to receiving a second user interaction via the input device, the second preprogrammed movement including closing the basket at the second closing speed.

2. The robotic system of claim 1, wherein the medical instrument further comprises a ureteroscope.

3. The robotic system of claim 1, wherein the medical procedure comprises a ureteroscopy.

4. The robotic system of claim 1, wherein the input device comprises a control pad comprising:

a directional control configured to direct movement of the robotic manipulator along a plurality of axes; and

a plurality of buttons including a first button and a second button.

5. The robotic system of claim 4, wherein the first user interaction includes double-clicking the first button.

6. The robotic system of claim 5, wherein the second user interaction includes double-clicking the second button.

7. The robotic system of claim 6, wherein the control circuitry is further configured to:

triggering a third pre-programmed motion of the robotic manipulator in response to tapping the first button and the second button simultaneously, the third pre-programmed motion comprising repeated, short distance, forward and backward movements at an accelerated speed.

8. The robotic system of claim 1, wherein the control circuitry is further configured to:

triggering a third preprogrammed movement of the robotic manipulator in response to receiving a third user interaction, the third preprogrammed movement including a repeated, short-distance, forward and backward movement at an accelerated speed.

9. The robotic system of claim 1, wherein the second preprogrammed movement further comprises:

detecting a torque on a drive mechanism of the basket; and

stopping the closing of the basket in response to the torque exceeding a threshold.

10. The robotic system of claim 1, wherein the at least one of the first user interaction and the second user interaction comprises a voice command.

11. A method for controlling a medical instrument using a robotic manipulator, the method comprising:

manipulating a medical instrument using the robotic manipulator, the medical instrument including a basket to enter a human anatomy, the robotic manipulator configured to open the basket at a first opening speed and a second opening speed, the robotic manipulator further configured to close the basket at a first closing speed and a second closing speed;

receiving, via an input device, one or more user interactions for triggering preprogrammed actions of the robotic manipulator;

triggering a first preprogrammed movement of the robotic manipulator in response to receiving a first user interaction via the input device, the first preprogrammed movement including opening the basket at the second opening speed, the second opening speed being faster than the first opening speed; and

triggering a second preprogrammed movement of the robotic manipulator in response to receiving a second user interaction via the input device, the second preprogrammed movement including closing the basket at the second closing speed, the second closing speed being faster than the first closing speed.

12. The method of claim 11, wherein the first user interaction comprises double-clicking a first button of the input device and second user interaction comprises double-clicking a second button of the input device.

13. The method of claim 12, the method comprising:

triggering a third preprogrammed movement of the robotic manipulator in response to tapping the first button and the second button simultaneously, the third preprogrammed movement including repeated, short distance, forward and backward movements at an accelerated rate.

14. The method of claim 13, the method comprising:

moving a center trajectory of the third preprogrammed movement of the robotic manipulator along a first axis in response to receiving a movement input along the first axis on the input device; and

repeating the short distance, forward and backward movements at the center locus.

15. The method of claim 13, wherein the third preprogrammed movement further comprises a repetitive rotational movement.

16. The method of claim 11, the method comprising:

manipulating an endoscope into a human anatomy using the robotic manipulator, the endoscope configured to capture images of the medical instrument within the human anatomy.

17. The method of claim 11, the method comprising:

receiving, via an input device, a third user interaction for directly controlling movement of the medical instrument; and

manipulating, using the robotic manipulator, the medical instrument along one or more movement axes based on the received third user interaction.

18. The method of claim 11, wherein the second preprogrammed movement further comprises:

detecting a torque on a drive mechanism of the basket; and

stopping the closing of the basket in response to the torque exceeding a threshold.

19. A control system for controlling a robotic device for performing a medical procedure, the control system comprising:

an input device configured to receive one or more user interactions and to cause one or more actions by the robotic device, the one or more actions including at least one of directly controlled movements and preprogrammed movements;

a communication interface configured to send commands to the robotic device corresponding to the directly controlled movements and the preprogrammed movements, the commands including:

moving, by the robotic device, a medical instrument comprising a basket, the medical instrument configured to enter a human anatomy;

opening the basket at a first opening speed and a second opening speed faster than the first opening speed; and

closing the basket at a first closing speed and a second closing speed faster than the first closing speed; and

a control circuit communicatively coupled to the input device and the communication interface, the control circuit configured to:

triggering a first preprogrammed movement of the robotic device in response to receiving a first user interaction, the first preprogrammed movement comprising opening the basket at the second opening speed; and

triggering a second preprogrammed movement of the robotic device in response to receiving a second user interaction, the second preprogrammed movement including closing the basket at the second closing speed.

20. The control system of claim 19, wherein the input device comprises:

a directional control configured to direct movement of the robotic device along a plurality of axes; and

a plurality of buttons including a first button configured to trigger the first preprogrammed movement and a second button configured to trigger the second preprogrammed movement.

21. The control system of claim 20, wherein:

double clicking the first button triggers the first pre-programmed motion; and

double clicking the second button triggers the second pre-programmed motion.

22. The control system of claim 20, wherein:

clicking the first button triggers a third pre-programmed motion that is different from the first pre-programmed motion; and

clicking the second button triggers a fourth preprogrammed movement that is different from the second preprogrammed movement.

23. The control system of claim 20, the control circuit further configured to:

triggering a third pre-programmed motion of the robotic device in response to tapping the first button and the second button simultaneously, the third pre-programmed motion comprising repeated, short distance, forward and backward movements at an accelerated speed.

24. The control system of claim 23, the control circuit further configured to:

in response to receiving a movement request along a first axis via the directional control, moving a center trajectory of the third preprogrammed movement of the robotic device along the first axis; and

repeating the short distance, forward and backward movements at the center locus.

25. The control system of claim 19, wherein:

the input device comprises a microphone configured to capture voice user commands; and is

The control circuit is further configured to identify a first voice user command corresponding to the first user interaction, and a second voice user command corresponding to the second user interaction.

26. The control system of claim 19, wherein:

the robotic device is located at a first geographic location that is different from a second geographic location of the control system; and is

The communication interface is further configured to transmit the command over a wide area network.

27. One or more non-transitory computer-readable media storing computer-executable instructions that, when executed by control circuitry, cause the control circuitry to perform operations comprising:

manipulating a medical instrument comprising a basket to enter a human anatomy using a robotic device configured to open the basket at a first opening speed and a second opening speed, the robotic device further configured to close the basket at a first closing speed and a second closing speed;

receiving, via an input device, one or more inputs for triggering a preprogrammed action of the robotic device;

triggering a first preprogrammed movement of the robotic device in response to receiving a first input via the input device, the first preprogrammed movement including opening the basket at the second opening speed, the second opening speed being faster than the first opening speed; and

triggering a second preprogrammed movement of the robotic device in response to receiving a second input via the input device, the second preprogrammed movement including closing the basket at the second closing speed, the second closing speed being faster than the first closing speed.

28. The one or more non-transitory computer-readable media of claim 27, wherein the first input comprises double-clicking a first button of the input device and the second input comprises double-clicking a second button of the input device.

29. The one or more non-transitory computer-readable media of claim 28, the computer-executable instructions further configured to cause the control circuitry to perform operations comprising:

triggering a third pre-programmed motion of the robotic device in response to tapping the first button and the second button simultaneously, the third pre-programmed motion comprising repeated, short distance, forward and backward movements at an accelerated speed.

30. The one or more non-transitory computer-readable media of claim 27, the computer-executable instructions further configured to cause the control circuitry to perform operations comprising:

receiving, via the input device, a third input for controlling direct movement of the robotic device; and

manipulating, using the robotic device, the medical instrument along one or more movement axes based on the received third input.

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