End-effectors for surgical robotic systems

Abstract

A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.

1 . A surgical end-effector coupleable to a robotic arm, the surgical end-effector comprising:
 a rotational mechanism;   a main body;   a first jaw operably coupled to the main body and having a proximal end closer to the rotational mechanism and a distal end further from the rotational mechanism;   a second jaw operably coupled to the main body and having a proximal end closer to the rotational mechanism and a distal end further from the rotational mechanism; and a linkage mechanism coupling the first jaw or the second jaw with the rotational mechanism, the linkage mechanism provides for non-linear movement of the distal end of the first jaw or the second jaw relative to movement of the rotational mechanism.   
     
     
         2 . The surgical end-effector of  claim 1 , wherein the rotational mechanism is configured to be actuated by an actuation cable; and
 wherein the linkage mechanism provides for a non-linear relationship between the movement of the distal end of the first jaw, the movement of the distal end of the second jaw, or both in response to the movement of the actuation cable.   
     
     
         3 . The surgical end effector of  claim 1 , wherein the linkage mechanism comprises a plurality of linkage members. 
     
     
         4 . The surgical end-effector of  claim 3 , wherein the rotational mechanism comprises a first pulley; and
 wherein the plurality of linkage members comprises a first set of linkage members connecting the first jaw with the first pulley and connecting the second jaw with the first pulley.   
     
     
         5 . The surgical end-effector of  claim 4 , wherein movement of the rotational mechanism includes rotation of the first pulley. 
     
     
         6 . The surgical end effector of  claim 4 , wherein movement of the rotational mechanism includes displacement of an axis of rotation of the first pulley relative to the main body. 
     
     
         7 . The surgical end-effector of  claim 4 , wherein the rotational mechanism further comprises a second pulley; and
 wherein the plurality of linkage members further comprises a second set of linkage members connecting the first jaw with the second pulley and connecting the second jaw with the second pulley.   
     
     
         8 . The surgical end-effector of  claim 7 , wherein a rotation axis of the second pulley is disposed distal to a rotation axis of the first pulley; and
 wherein the first set of linkage members, the second set of linkage members, and the configuration of the main body constrain movement of the rotation axis of the first pulley and the rotation axis of the second pulley to movement along a straight line in a proximal-distal direction with respect to the main body.   
     
     
         9 . The surgical end-effector of  claim 7 , wherein the first pulley includes a first pulley pin and the second pulley includes a second pulley pin; and
 wherein the first and second pulley pins move within slots formed in the main body.   
     
     
         10 . The surgical end-effector of  claim 1 , further comprising a strain gauge fixed to a component of the end-effector. 
     
     
         11 . The surgical end-effector of  claim 10 , wherein the strain gauge is configured to produce an output related to a force exerted between the distal end of the first jaw and the distal end of the second jaw from which the force exerted can be determined. 
     
     
         12 . The surgical end-effector of  claim 1 , wherein the main body further comprises a flexural clamping body; and
 wherein the strain gauge is affixed to the flexural clamping body.   
     
     
         13 . The surgical end-effector of  claim 1 , further comprising a position sensor that produces an output related to a position of the first jaw relative to another portion of the surgical end-effector, a position of the second jaw relative to another portion of the surgical end-effector, or a position of the first jaw relative to a position of the second jaw. 
     
     
         14 . A surgical system comprising:
 a robotic arm coupled with the surgical end-effector of  claim 13 ;   a processor configured to or programmed to read one or more instructions held in memory to control one or more of a position of the first jaw relative to another portion of the surgical end-effector, a position of the second jaw relative to another portion of the surgical end-effector, or a position of the first jaw relative to a position of the second jaw based on output from the position sensor.   
     
     
         15 . A surgical end-effector coupleable to a robotic arm, the surgical end-effector comprising: 
 a first jaw having a tip;   a second jaw having a tip; and   a force determination mechanism responsive to a force applied to the tip of the first jaw or the second jaw to determine a magnitude of the force.   
     
     
         16 . The surgical end-effector of  claim 15 , wherein the force determination mechanism comprises a strain gauge. 
     
     
         17 . The surgical end-effector of  claim 16 , wherein the force determination mechanism further comprises a flexural body; and
 wherein the strain gauge is affixed to the flexural body.   
     
     
         18 . The surgical end-effector of  claim 17 , wherein the surgical end-effector further comprises a main body; and
 wherein the main body includes the flexural body or the flexural body is attached to the main body.   
     
     
         19 . The surgical end effector of  claim 15 , further comprising a position sensor configured to produce an output related to a position of the first jaw tip relative to another portion of the surgical end-effector, of the second jaw tip relative to another portion of the surgical end-effector, or of a position of the first jaw rip relative to a position of the second jaw tip. 
     
     
         20 . A surgical system comprising:
 a robotic arm coupled with the surgical end-effector of  claim 15 ;   a processor configured to or programmed to read one or more instructions held in memory to control a force between the tip of the first jaw and the tip of the second jaw based on an output of the force determination mechanism.